My kids love the good ol' treasure hunts indoors! It engages their visual perception and problem solving skills especially if the items are a series of surprises - like finding something soft then cold then noisy haha. Also, preparing the night before gives me some quiet time too while they're asleep
Simple peasy and fun for sensory play is making homemade play dough or sand! And I let them 'cook' with me too, which they think is pretty cool - measuring ingredients etc. They're very hands-on and love squishing stuff. Then after, we do some artsy thing with the creations, painting or decorating. Can get a little messy though so I usually have an impromptu shower cap on stand by haha! But it's all good fun and makes for great bonding time and memories