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Hi,
this is exactly the configuration I'm using (mounted on a breadboard, not soldered).
Also testing different pull up values (e.g. 3.3K and 10K) the result does not change (OK with C-based "Hello Word" program, FAIL with Espruino "Hello Word" example).
Moreover, when using such type of HD44780 LCD display and the same Nucleo board (or even an Arduino board) I have never had to connect any pull up resitor (always direct connection between the board and the LCD display).
I think this is due also to the fact that also the I2C PCF8574T adapter mounted behind the display has its weak internal pull up resitors "aboard"...
Blizzard
Hmm 4.7k pull ups woks fine for all i2c devices I have been using so far.
Make sure you solder them like this:
to work as pull ups