At some point, any query will grab a Mutex that prevents other queries from proceeding. That is, it is impossible to run queries at exactly the same time.
What you can do (and mysqlslap and other tools do) is to keep pumping queries into the system, not quite in parallel, but "continuously". From that you can get "tps" or "qps".
Another thing to be cautious about is the number of connections that are feeding queries into mysql. In the old days, 4-8 would saturate the system, tps would stall or decline and latency would go through the roof. Current versions probably get past 64 connections before such happens.
When there are a hundred queries running at the same time, the contention for resources is so high that none of the connections is getting much done. It becomes a tradeoff between concurrency and latency.
When latency is too high, users complain that the system is "hung", and the novice DBA decides that the only cure is to reboot.