No. He can only sense "evil" intentions not people in general. I doubt he would be able to sense Nagato Pre Konoha destruction arc because Nagato's intentions weren't neccesarily "evil".
I think in SM he can sense people once he has met them, which I would agree wouldn't make him the best Sensor type either way. (I will show below as to my reasonings)
Eh SM is abit if-y cause he couldn't sense Pein without the bar, BUT KM YES that is a yes big time
the reason he needed the bar is not because he couldn't sense him but because he didn't know pain chakra so he could pin point which one was pain since there were still people alive i hope you understand
I think the best way to answer kurayami's point and what narutorikudoumode is saying but I will try to put it in a better way is that, he never met Nagato before so he couldn't sense his chakra thus *(KEYWORD)*
LOCATION. It's like when he first got to Konoha in SM and asked Tsunade if Kakashi was out on a mission/away from the village?" (Of course he was dead at the time). So he couldn't sense Nagato since he had never met/seen him before, so he used his Black Chakra Receptor Rods to Reverse the actual Nagato or as Jirayai said "The real one is not among them" (which Naruto wouldn't have thought to do if it weren't for that great bit of knowledge

)
So I think both SM and KM have their advantages sensor-wise but they can't be used together and I don't think he is the best sensor type but in KM probably the FASTEST when it comes to sensing where the bad guy is hidden but sometimes that isn't a Sensor-Type Shinobi's Job.
Look at Karin, I don't think she ever met Danzo before or at least if I remember the manga correctly she hadn't but she was able to sense him. Yes it took her a little while (Maybe 10-15 minutes, give or take 2 minutes, in actual Naruto time I would say but that is just a calculated guess).
Naruto in KM: Senses Evil or people with Malice/Malicious Intent definitely faster than any sensor-type we have seen thus far.
Naruto in SM: Senses anyone he has ever met before.
If you added those 2 together than yes he would POSSIBLY be the best sensor type, but I think a great sensor-type Ninja can sense both Evil/Malicious Intended people AKA Villian's and Allies or Whoever they need to depending on their mission/goal/duties. Yes Naruto was the only one able to pick up on the White-Zetsu Clones but I don't think he is the BEST
SENSOR-TYPE just yet.