Connecting a 18 gauge wire to a small housing
I think all you want to do is solder some male header pins on the wires out of your sensor, and then make a connector wire for your board(s) with some female pins soldered on both ends.  Maybe one end of the connector has a solid block of pins and the other end is split to hook up in two places.

I think you are overthinking it and making it more difficult than it really is.  I think regular solderable header pins should be sturdy enough for a UAV.  You could go all Molex or something but I don't think you need to.