It not only madara who sensed the kages BM naruto did too

[BEASTLY NARUTO]

A lot of guys here said naruto can sense only negative that,he can only sense both negative chakra/energy when he is using SM but I think the last manga page below proofs that BM
naruto sensed his dad(who's chakra is at positive state) from afar probably from when they were resurrected

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Examining the conversation between naruto and his dad you will notice that naruto was not suprise seeing his dad instead he was smiling plus when his dad asked "was I late ?" he said no just in time and even when ahead to say "at last" this only proves that naruto was waiting for his father's arrival same as madara was waiting for hashi.
CONCLUSTION;naruto can sense any type of chakra in BM

 

[KidGamer65]

Naruto didn't sense Minato. That conversation is hardly proof. BM and KM Naruto can only sense negative emotions, nothing more.

 

[BEASTLY NARUTO]

Naruto didn't sense Minato. That conversation is hardly proof. BM and KM Naruto can only sense negative emotions, nothing more.

Dude go an re read it again it 100% proved that naruto already know his dad was coming oh just cause naruto didn't say aloud like madara doesn't mean he didn't

 

[KidGamer65]

Dude go an re read it again it 100% proved that naruto already know his dad was coming oh just cause naruto didn't say aloud like madara doesn't mean he didn't

Naruto simply answered his question by saying you're right on time. Naruto can only sense negative emotions in KM and BM.

 

[Draphsin]

Dude go an re read it again it 100% proved that naruto already know his dad was coming oh just cause naruto didn't say aloud like madara doesn't mean he didn't

No it didnt, naruto saw the kunai before he saw minato. Naruto could've easily just seen it prior & knew...

As kidgamer already said, that scan does not prove that naruto can sense others. Manga showed us that he can sense negative emotions & until shown otherwise then we shouldn't go on assuming he can do more.