First of all, thanks for your time.

> One bug report can track a problem across several packages, so there's no need for multiple reports.

Sorry for the noise :-)

> If you can reproduce it with Hirsute

I can reproduce the problem using linux-image-generic 5.10.0.14.16 from hirsute in a tty.
To be sure I did it right, those are the steps I followed:

1. added this repo to the list of repos:
deb http://archive.ubuntu.com/ubuntu/ hirsute-proposed restricted main multiverse universe

2. updated apt list and installed those packages:
linux-headers-generic/hirsute-proposed
linux-modules-5.10.0-14-generic/hirsute-proposed
linux-modules-extra-5.10.0-14-generic/hirsute-proposed
linux-image-5.10.0-14-generic/hirsute-proposed

3. Rebooted, choose kernel 5.10 from advanced list in grub

4. On gnome login prompt, switched to tty with ctrl+alt+F3

5. Check kernel and packages:
$ uname -a
Linux bestia3 5.10.0-14-generic #15-Ubuntu SMP Fri Jan 29 15:10:03 UTC 2021 x86_64 x86_64 x86_64 GNU/Linux

$ dpkg -l | grep 5.10.0
ii  linux-headers-5.10.0-14                    5.10.0-14.15                                     all          Header files related to Linux kernel version 5.10.0
ii  linux-headers-5.10.0-14-generic            5.10.0-14.15                                     amd64        Linux kernel headers for version 5.10.0 on 64 bit x86 SMP
ii  linux-headers-generic                      5.10.0.14.16                                     amd64        Generic Linux kernel headers
ii  linux-image-5.10.0-14-generic              5.10.0-14.15                                     amd64        Signed kernel image generic
ii  linux-modules-5.10.0-14-generic            5.10.0-14.15                                     amd64        Linux kernel extra modules for version 5.10.0 on 64 bit x86 SMP
ii  linux-modules-extra-5.10.0-14-generic      5.10.0-14.15                                     amd64        Linux kernel extra modules for version 5.10.0 on 64 bit x86 SMP

Now, calling 'sensors' from console still causes the problem, i.e. the output of sensors hangs a couple of seconds just after printing 'amdgpu-pci-0100' and the fans start spinning.
The only difference with kernel 5.10 wrt kernel 5.8 is that I don't see the kernel error messages directly into the tty, but they are present in dmesg:

[   25.039603] vboxdrv: TSC mode is Invariant, tentative frequency 2592005345 Hz
[   25.039607] vboxdrv: Successfully loaded version 6.1.18 (interface 0x00300000)
[   25.251013] VBoxNetFlt: Successfully started.
[   25.253147] VBoxNetAdp: Successfully started.
[   41.364575] [drm] PCIE GART of 256M enabled (table at 0x000000F400000000).
[   41.493122] [drm] UVD and UVD ENC initialized successfully.
[   41.603133] [drm] VCE initialized successfully.
[   41.609182] amdgpu 0000:01:00.0: [drm] Cannot find any crtc or sizes
[   41.680294] rfkill: input handler enabled
[   47.719525] Bluetooth: RFCOMM TTY layer initialized
[   47.719530] Bluetooth: RFCOMM socket layer initialized
[   47.719535] Bluetooth: RFCOMM ver 1.11
***** END OF BOOT ******

***** Called 'sensors' in tty   vvv ******
[   96.156579] [drm] PCIE GART of 256M enabled (table at 0x000000F400000000).
[   96.285097] [drm] UVD and UVD ENC initialized successfully.
[   96.395079] [drm] VCE initialized successfully.
[   96.401254] amdgpu 0000:01:00.0: [drm] Cannot find any crtc or sizes