If the pilots don't have the cognitive load to take over manual control at any time, let alone react to the question of sensors that are returning impossibly divergent readings, surely they are already overloaded.
For that and other reasons I don't know if it's as difficult as you say; these sort of things are where very intelligent UX design can play a major role.
For impossibly divergent sensors as there were in this particular case, if the difference between divergent sensors is between a normal flying pattern and a crazy disastrous scenario, two things should happen— (1) both sensors should be considered untrustworthy and their use in automation should be suspended, and (2) the pilots should be asked the straightforward question "are you in a normal flying pattern" and if so, re-enable the sensor which fits this pattern.
Additionally/alternatively, they could fit a few off-the-shelf commodity accelerometers/gyros directly to the circuit board of the flight computers and use their readings exclusively to predict which "real" sensors is most likely correct. For example if one "real" sensor suddenly swings and the other one didn't, has there been any corresponding shift in the accelerometers? This would be a perfect candidate for machine learning with a few thousand hours of flight simulator data with simulated sensor failures based on known sensor failure modes.