Traditional bioinspired soft actuators typically rely on a single actuation mechanism, limiting their movements to bending, twisting, or stretching, and often lack built-in sensing capabilities, reducing adaptability and interaction with external environment. The integration of multiple actuation mechanisms within the same actuator has recently gained popularity in the soft robotics 3D printing field. In the present paper, a novel 3D printed omnidirectional bioinspired soft actuator that mimics the snake tongue is presented. The multi-modal actuator monolithically fabricated using Multi-material Extrusion, seamlessly combining pneumatical actuation and embedded shape memory alloy spring actuators, with integrated 3D printed sensors. The integration of multiple actuation mechanisms and embedded sensing, enabled by cost-effective multi-material 3D printing, enhances soft robotics for precise, adaptive movements in biomedical, industrial, and surveillance applications.