Normal GPIOs can source 5mA at max voltage drop VDD - 0.8V at the output pin.
GPIO-HD pins (if DSE = 1) can source 20mA at max drop of 0.8V.

In other words, if the load is 20mA per pin / sensor, the sensor will not be powered by 5V but by >= 4.2V.
The sensors can be powered from the 5V generated by the SBC directly.
Regards,
Daniel