I love what NewName said as well, especially the part about sensory bothering the child, ADHD affecting those around the child.
But..
My 5 year old son has both ADHD and SPD and there is some link/overlap to how those work together to work against him. For example, he is a high sensory seeker, with low modulation. In essence, they've determined with his constant "seeking" he takes in about 5 times more information than I do in any given environment, but does not have the control to process and respond to it properly.
So, give a kid with ADHD five times MORE things to distract him, and then pile it on a system that fails to react to impulse control and process it all properly and yeah, things get out of hand.
Your daughter sounds a bit like my son - he has a high pain tolerance, likes big motions, squeeze/squish/compress, makes a lot of loud noises but afraid of external ones, can't stop moving/touching/licking/exploring. He is also wicked smart and 'socially awkward' (according to his psych doc).
The SPD works with the hyperactivity as well. He's looking for sensations, whether it's repeatedly jumping up and landing on his knees...on the hardwood floors (how does he not feel that?), whacking himself with anything, whacking something/someone else, licking the fire hydrant (sigh), spinning in circles, etc., and he finds it hard to stop what he's started, kind of like getting into a loop.
Of course, only you, your daughter and her doctors know her unique needs and how to address them. I'd bring up any new concerns or things you'd like more information on at her next appointments and see if they can help.
Good luck!