In future Internet-of-Things (IoT) networks, sensors or even access points can be mounted on ground/aerial vehicles for smart-city surveillance or environment monitoring. For such high-mobility sensing, it is impractical to collect data from a large population of sensors using any traditional orthogonal multi-access scheme as it would lead to excessive latency. To tackle the challenge, a technique called over-the-air computation (AirComp) was recently developed to enable a data-fusion to receive a desired function (e.g., averaging or geometric mean) of sensing data from concurrent sensor transmissions. This is made possible by exploiting the superposition property of a multiaccess channel. Targeting a multi-antenna sensor network, this work aims at developing multiple-input-multiple output (MIMO) AirComp for enabling high-mobility multi-modal sensing where a multi-modal sensor monitors multiple environmental parameters such as temperature, pollution and humidity. To be specific, we design MIMO-AirComp equalization and channel feedback techniques for spatially multiplexing multi-function computation, each corresponding to a particular sensing-data type. Given the objective of minimizing sum mean-squared error via spatial diversity, a close-to-optimal equalizer is derived in closed-form using differential geometry. The solution can be computed as the weighted centroid of points (subspaces) on a Grassmann manifold, where each point represents the subspace spanned by the channel coefficient matrix of a sensor. As a by-product, the problem of MIMO-AirComp equalization is proved to have the same form as the classic problem of multicast beamforming, establishing the AirComp-multicasting duality. Its significance lies in making the said Grassmannian-centroid solution method transferable to the latter problem which otherwise is solved using the more computation-intensive semidefinite relaxation method in the literature. Last, building on the AirComp equalization solution, an efficient channel-feedback technique is designed for an access point to receive the equalizer from simultaneous sensor transmissions of designed signals that are functions of local channel-state information. This overcomes the difficulty of provisioning orthogonal feedback channels for many sensors.