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Does sudo have a plethora of stupid features? Yeah.
What it doesn't have is a needlessly complicated and overengineered design that relies on interprocess communication and three different daemons from two separate packages. It generates a temporary systemd service to actually run the privileged command, for Davis' sake. That is one hell of a surface area for something that's the gateway between an unprivileged user and root.
I'm not saying sudo deserves to be used permanently, but if someone is going to replace it with a new tool for security reasons, that tool should be less complicated and use fewer runtime dependencies than what it's replacing. When you account for the entire architecture of run0, sudo is lightweight in comparison.