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Better put than I would've said. I don't much care for lennart, but he's right about some things here. Sudo is unnecessarily huge so it being setuid binary is obviously not great.
Run0 isn't probably the solution, but something might emerge one day that handles privilege escalation in a more today's sane way than sudo.
Doas is kind of an option, but if you are gonna rework this, makes sense to re-think it more than 'leaner sudo'. Let's see what pops up some years later, after all, we all (probably) thought pulseaudio was gonna stay forever too.
I've been using sudo-rs as a drop-in replacement for sudo, it works well. The codebase is like 1/5 of the size, it drops some of the crazier features of sudo, extremely minimal dependencies, and it's all written in memory-safe rust. NixOS also has an option for setting the sudo binary to be executable by wheel only, so the attack surface is very small.
https://www.memorysafety.org/initiative/sudo-su/ https://github.com/memorysafety/sudo-rs https://search.nixos.org/options?channel=24.05&size=50&sort=relevance&type=packages&query=sudo-rs