The main critiria I have is to read the data as fast as possible from the sensors for about 10 seconds, this time might increase (all data received at same frequency).
Ok, so why are you not sending the data as fast as possible?
on the serial monitor - 19200bps
The Arduino can send data at 115200 - that's 8 times as fast as you are sending it.
The limit on the speed that you can transmit the data is the baud rate, not how/when the Serial.print() command is called.