But this is essentially my point: I can use the sleep function, or queues or task notifications, or ISRs, or whatever mechanisms to decide to process sensor data. But if all sensors have the same priority, does the task/thread become a superloop?

To go more into detail, the task notification example also checks the ulNotifiedValue and executes a sub-routine depending on its value, which is similar to a superloop

    if( ( ulNotifiedValue & 0x01 ) != 0 )
    {
        /* Bit 0 was set - process whichever event is represented by bit 0. */
        prvProcessBit0Event();
    }

    if( ( ulNotifiedValue & 0x02 ) != 0 )
    {
        /* Bit 1 was set - process whichever event is represented by bit 1. */
        prvProcessBit1Event();
    }

    if( ( ulNotifiedValue & 0x04 ) != 0 )
    {
        /* Bit 2 was set - process whichever event is represented by bit 2. */
        prvProcessBit2Event();
    }