What you're looking for is grunt-concurrent, a task that allows you to run multiple tasks asynchronously and it's incredibly common for blocking tasks such as watch or nodemon.
https://github.com/sindresorhus/grunt-concurrent
As for nodemon, a prime example of this is located directly on the github page for grunt-nodemon using grunt-concurrent under the section 'Advanced Usage'.
https://github.com/ChrisWren/grunt-nodemon#advanced-usage
Hope this is what you're looking for.