RX66N - Is voltage translation needed for a 5V I2C bus?


I'm designing a custom board that integrates the RX66N microcontroller. In the board we have an I2C bus working at 5V that has to be connected to the RX66N. Do I have to adapt the 5V I2C to 3V3 for interfacing the microcontroller, or since I2C in the RX66N is located in 5V tolerant inputs and since it is an open-drain bus, could I leave at 5V?

Thanks a lot!