question

To detect collision/proximity you would check if either of two conditions is fulfilled. Either the center point of the other object is within the sensor area or any of the edges of the sensor area intersect with any of the edges of the bounding area of the other object.

The second check just requires the position of the sensor area edges relative to the task executer. These can be determined once and saved in a label or other node for lookup during the model run. As such the sensor area can be an arbitrary polygon without changing the complexity of the math involved.

To check whether the center point is within the area you can still define the trapezoid as part of a circle slice. The midpoint of the circle just doesn't coincide with the center of the task executer.

Edit:

I build an example model showcasing the detection of an area intersection.

https://drive.google.com/file/d/1iEo1f5HLpFcXPzKtQs-dMvhkCoqoCt-G/view?usp=sharing