A Compressive Sensing (CS) approach is applied to utilize intrinsic computation capabilities of Spin-Orbit Torque Magnetic Random Access Memory (SOT-MRAM) devices for IoT applications wherein lifetime energy, device area, and manufacturing costs are highly-constrained while the sensing environment varies rapidly. In this manuscript, we propose the Adaptive Compressed-sampling via Multibit Crossbar Array (ACMCA) approach to intelligently generate the CS measurement matrix using a multibit SOT-MRAM crossbar array. SPICE circuit and MATLAB algorithm simulation results indicate that ACMCA reduces reconstruction Time-Averaged Normalized Mean Squared Error (TNMSE) by 5dB on average while providing up to 160$μ$m$^2$ area reduction compared to a similar previous design presented in the literature while incurring a negligible increase in the energy consumption of generating the CS measurement matrix.