Perhaps starting with a pin budget would guide you in the right direction.
I would start making a list of the sensors you want to use and how you would need to communicate with them. Do they use SPI, I2C, discrete pins, a UART channel.
I2C devices all share the same 2 pins, whereas SPI devices share 3 pins + a 4th unique pin per device.
Do you need several UART channels - if you do, then that can eliminate a few boards straight away.
What voltages do these sensors operate at. Are they all 3.3V logic, or 5V logic or a mixture of the 2 ?