Camera:
The high data rate required for imaging module means that it doesn't run on a shared bus. There's a number of standards, some proprietary and others loosely defined, but they all use direct connections to the image processor (which is in many cases part of the SoC).
Microphone:
Probably not going to access this one, because microphone wouldn't be on any sort of bus. They'll have a direct connection to a ADC, which would have a direct connection to an audio signal processor in the SoC.
Other sensors:
This depends on the implementation. If they use I2C, there's a good chance they'll be on a shared bus on which the baseband processor is also located. However, accessing that data requires details about the specific sensor. If a particular model of phone is being targeted, this isn't too hard. For example, I know the iPhone 4 uses the LIS331DLH Accelerometer. I can find the datasheet for that part, and then write a simple driver to access it's data. If they use SPI, which isn't a bus-based protocol, there's little chance of accessing the information directly. SPI devices can be daisy chained or separately selected to put more than one on a single port, but in such a configuration there's only ever one master (which would be the CPU).