Sensors are not supported, but for temperature I have bypassed this by converting them to virtual generic thermostat instances, like so:
climate:
- platform: generic_thermostat
name: Bedroom
target_sensor: sensor.temperature_158d0001f58fbc
heater: # whatever bogus value, since it doesnt activate anything
Climate gets exposed to Google Assistant, and asking “What’s livingroom temperature?” it replies “It’s currently 21.5 degrees and the livingroom is off”.
The last bit is because it still thinks it’s a thermostat that is turned off, but at least i can get the sensor value spoken out loud.
Alternatively you can have a TTS script say anything you want, but it will have the non-native accent, pause music if playing and a whole other issues.
Update:
now it’s possible to expose the temperature sensor without a thermostat, and Google Assistant nicely responds with “Home is currently 26.9 degrees.”
Exposing them using Nabu Casa Cloud:
Xiaomi Temperature Sensor:
Even a virtual sensor using Thermal Comfort:
And yes, as pointed out above - contact sensors like door/window, etc.