How to use get a game object's position in multi-thread?

I am currently working on a project that will create a lot of game objects, and the game will need to loop through all of them frequently to get their latest position. The problem there is that the looping work will cause a large overhead on calculating which will make the game performance decrease since the unity is a single thread model on default. So my solution is to start another thread to check the game objects position, but it seems that the unity API does not work in multi-thread. My question is that is there a way to access the unity API (such as call the "transform.position") in multi-thread? Or is there a better way to loop through all the game objects' position without impact the game performance?