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PhyPhox app. Let's you access every physical sensor your android device SoC has access to (at least for most major manufacturers). Especially on high end phones, they include a huge array of sensors from accelerometers to magnetometers to high accuracy air pressure barometers. Plus it includes a lot of processed sensor outputs, like rudimentary range finding sonar, audio frequency spectrums, etc... And it's free!
A lot of the base sensor values can also be accessed in debug mode - albeit without much of a UI, but it works in a pinch.
Thanks for the awesome suggestion mate
This looks amazing for the pointless tinkering I love!