The Paris Agreement and the 2030 Agenda for Sustainable Development embody highly intertwined targets to act for climate in conjunction with sustainable development. This, however, entails different meanings and challenges across the world. Kenya, in particular, needs to address serious sustainability threats, like poverty and lack of modern and affordable energy access. This study uses a multi-criteria group decision aid and consensus measuring framework, to integrate both agendas, and engages with Kenyan stakeholders to help inform future mitigation research and policy in the country. Results showed that stakeholders highlight topics largely underrepresented in model-based mitigation analysis, such as biodiversity preservation and demand-side transformations, while pointing to gaps in cross-sectoral policies in relation to access to modern energy, agriculture, life on land, and climate change mitigation. With numerous past and recent policies aiming at these issues, persistent stakeholder concerns over these topics hint at limited success. Sectoral and technological priorities only recently emphasised in Kenyan policy efforts are also correlated with stakeholders' concerns, highlighting that progress is not only a matter of legislation, but also of coordination, consistency of targets, and comprehensibility. Higher bias is found among the preferences of stakeholders coming from the country's private sector. Results from this exercise can inform national policymakers on effectively reshaping the future direction of the country, as well as modelling efforts aimed at underpinning Kenya's energy, climate and sustainable development policy.