Ok, well this is odd. I've got a SSD1306 (the one actually pictured in http://www.espruino.com/SSD1306) connected to a Pico running 2v07 and the exact JS code in the example, and it works great!
// write some text
// write to the screen
var g = require("SSD1306").connect(I2C1, start);
So I wonder what the difference is with your setup?
Worth noting that Software I2C is able to use the internal pullup resistors, but for some reason hardware I2C isn't - so if the I2C device doesn't have internal pullups then software will work but hardware won't.
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