First question: Have you considered Azure Data Explorer, also known as Kusto. I have not worked with it myself, but I believe Kusto is really great for time-series data.
If there are three sensor, I would start with one column per sensor, particularly if they measure different things. Together with this, you could have the sample ID and the timestamp as the key columns. The sample ID would be repeated, but the timestamp would not. Actually, you could stored the sampleIDs in a separate table with stop and start times for these samples, and then you would not need the sampleIDs in the sensor table.
Or is there something I have missed?