Naruto didn't seem the least bit surprised by Minato's arrival

[IKSOKRIPS]

I don't think Naruto is a sensor, only when he is in BM and SM, but i could be wrong.

I was thinking on BM too.

If you remember, he was in BM, when Madara sensed Hashirama. So, at that time Naruto could have sensed Minato too. :yeah:

 

[Lamb]

Just as everybody said, he probably sensed the kages's revival. Naruto is just too focused now on fighting, the shinobi world is at stake, so he can't be distracted.