Generally you should be able to replace “i.e.” with “that is” and have your sentence make sense and follow grammar rules. Similarly you should be able to replace “e.g.” with “for example.”
It’s generally ok to write “namely” or “to wit” where you might write “that is [to say]” although “to wit” isn’t very common. For example:
> We use a primitive programming language, namely C++.
> We use a primitive programming language, that is to say C++.
> we mainly use a primitive programming language. C++, that is.
> we mainly use a primitive programming language, to wit C++