You're right, it is to do with sensors. Unfortunately, I can't pinpoint the exact problem, but it is most likely a data accuracy issue with your accelerometer.
Android is a very complex operating system, and it is highly unlikely that every piece of native code functions exactly as intended. I wouldn't worry about this error.
Moreover, it is almost definitely not related to your phone freezing and having feedback delays. That sounds more like an issue of running low on RAM and processing power, while having too many background apps open. Try uninstalling the apps you don't use.