Torque magnetometry is a powerful method to determine a sample's magnetic properties. In a torque magnetometer, the sample under interest is mounted on a suitable sensor, the core part of the instrument. Piezoresistive atomic force microscope tips are proven to be very useful torque sensors and have already been optimized for the specific needs of torque magnetometry. However, this type of sensor did not offer the possibility of measuring torque along two perpendicular directions simultaneously without sacrificing sensitivity. In this article we demonstrate a fundamentally new sensor design based on the piezoresistive readout technique, which offers a large variability of measurement modes. With a symmetric arrangement of the sensor legs, concurrent two-axis measurements are easily possible with two separate readout circuits. Furthermore, the variability can be exploited by fabricating a thermometer on the sample platform to directly measure the sample temperature. Test measurements are in good agreement with elasticity calculations.