You don't have to give up entirely.
Kernel drivers are convenient, but they aren't necessary. If you have one, it does all the annoying gruntwork of translating "I want a temperature reading" into a series of I2C commands. If you don't have one, you can send those same commands yourself.
The Adafruit I2C python module: https://github.com/adafruit/Adafruit-Ra ... uit_I2C.py
gives you some basic functions that control the I2C bus directly. You can combine those with the "here's how to talk to the TMP006" code from the Arduino library and make your own module that will get the sensor working for you.
When you void a product warranty, you give up your right to sue the manufacturer if something goes wrong and accept full responsibility for whatever happens next. And then you truly own the product.