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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