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Edit: so if you want to keep the ability to use anchors and aliases, and your setup is as you show it in your question, then I believe there is no need to load "parts of a yaml file".

The .launch file example you show starts two nodes: sensor1 and sensor2.

The .yaml you show has -- ultimately -- two sections: sensor1 and sensor2.

Private parameters don't necessarily need to be loaded by a rosparam node that is a child of a node to become private parameters. They just need to be loaded in a namespace that corresponds to the name of the node.

So if the private parameters of node sensor1 are loaded from a .yaml file that contains a section called sensor1 and the .yaml file is loaded into the global namespace, the end result will be that the parameters end up in the sensor1 namespace, making them private parameters of the sensor1 node.

The .yaml file doesn't need to be loaded in parts -- in this specific example.

As to a more generic case: I would still recommend using a small Python script for this, as I wrote in my comment.

But I'm in Kinetic and from what I understand support for the yaml type was only added in Lunar.

yes, that is true. So that wouldn't work under Kinetic unfortunately.