Jenkins (hamstring), who missed the last four games, was a participant at the walk-through practice at Valley Ranch as the Cowboys began preparation for Sunday's game at the Arizona Cardinals.
After practice, Jenkins said he plans on returning in full capacity on Wednesday.
The Cowboys (7-4) have won four games in a row to vault atop the NFC East standings.
Austin, however, didn't work with the team during the walk-through and was doing rehab work as he still recovers from his injury. He's missed the last three games because of the injury.
Sensabaugh, who no longer is wearing a protective boot, said he plans to participate in at least a limited fashion for the remainder of the week.
The Cowboys also got some good news as fullback Tony Fiammetta made an appearance on the practice fields wearing a sweatsuit and a knit cap. Fiammetta hasn't played the last two games because of an undiagnosed illness.
Fiammetta was in the Cowboys weight room riding a stationary bike, which is a good sign toward his recovery as he had been getting sick when he was working out.
Calvin Watkins covers the Cowboys for ESPNDallas.com.