Welcome to the forum.
Rather than wake up an old abandoned thread, it's better to start your own - then you can mark the solution when the problem is solved.
You say it's the "same error", but that thread never established what the actual problem was. In fact, the poster never engaged at all beyond asking the rather vague question!
You need to give some more details of your setup - please see: How to write your question to maximize your chances to find a solution
What, exactly, do you mean by "run the firmware on debug mode" ?
Have you used a logic analyser to compare what happens on the I2C wires when it's working against what happens when it fails ?
See this for when things work with debug, but not without:
https://community.st.com/t5/stm32-mcus-products/uart-request-response-just-during-debug-and-debugger-connected/m-p/860685/highlight/true#M289492
A complex system that works is invariably found to have evolved from a simple system that worked.
A complex system designed from scratch never works and cannot be patched up to make it work.
