Multi-variate soft sensor seeks accurate estimation of multiple quality variables using measurable process variables, which have emerged as a key factor in improving the quality of industrial manufacturing. The current progress stays in some direct applications of multitask network architectures; however, there are two fundamental issues remain yet to be investigated with these approaches: (1) negative transfer, where sharing representations despite the difference of discriminate representations for different objectives degrades performance; (2) seesaw phenomenon, where the optimizer focuses on one dominant yet simple objective at the expense of others. In this study, we reformulate the multi-variate soft sensor to a multi-objective problem, to address both issues and advance state-of-the-art performance. To handle the negative transfer issue, we first propose an Objective-aware Mixture-of-Experts (OMoE) module, utilizing objective-specific and objective-shared experts for parameter sharing while maintaining the distinction between objectives. To address the seesaw phenomenon, we then propose a Pareto Objective Routing (POR) module, adjusting the weights of learning objectives dynamically to achieve the Pareto optimum, with solid theoretical supports. We further present a Task-aware Mixture-of-Experts framework for achieving the Pareto optimum (TMoE-P) in multi-variate soft sensor, which consists of a stacked OMoE module and a POR module. We illustrate the efficacy of TMoE-P with an open soft sensor benchmark, where TMoE-P effectively alleviates the negative transfer and seesaw issues and outperforms the baseline models.