Style opinion: put spaces after your "if"s.

It's not clear to me that avoiding multiple returns in a situation like this
is really that important, but if you want to avoid it, I might do somthing
like this :

        success = false;
        while (1 /* NOT ERROR */) {
            if (!I2CStart())
                break;

            if (!I2CTransmit(fullAddr))
                break;

            if (!I2CGetAck())
                break;

            if (!I2CTransmit(instruction))
                break;

            if (!I2CGetAck())
                break;

            if (!I2CStop())
                break;

            success = true;
            break;
        }
        return success;

A DO loop would theoretically be more appropriate, but they're uncommon and
occasionally frowned upon stylistically.  Someone mentioned "break"
shouldn't be used in while loops?  I haven't heard that one...  (I stripped
your comments, but you shouldn't!)  You could make it "while (!success)",
but that'll generate rather pointless code.  As written, there's no extra
jump to the beginning of the loop, and a good compiler will probably remove
the loop-related instructions entirely.

This *is* the sort of situation where one can sometimes get away with GOTO.
Neither your original code nor the above "improvement" makes it obvious that
the failure returns are error conditions as clearly as something like:

    if(!I2CStart())
        goto write_error;

    if(!I2CTransmit(fullAddr))
        goto write_error;
        :

BillW

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