Hello.
The specifics about how to connect a motion sensor and if it is compatible with the Maestro depends on your particular sensor. Did you already have one in mind, or are you looking for one?
The Maestro does not have any special support for adding sound, but you can use a separate audio board such as SparkFun’s MP3 Trigger V24 or Adafruit’s Audio FX Mini Sound Board and have the Maestro trigger the sound and time your servo movement appropriately. Both of those sound boards are able to trigger sounds from digital signals (e.g. connecting specific pins to ground) or through UART serial commands (which the Mini Maestro is capable of sending from a script). You can find an example of how to use serial commands to trigger sounds from the MP3 Trigger V24 in this post from Jon.
Brandon