doas is quite popular in the BSD world, and was ported to Linux a few years ago (via the OpenDoas project).
For starters, it’s is a lot smaller than sudo - under 2k lines of code vs sudo’s 132k - this makes it lot more easier to audit and maintain, and technically less likely to have vulnerabilities.
Another security advantage is that doas doesn’t pass on the environment variables by default (you’d have to explicitly declare the ones you want to pass, which you can do so in the config).
The config is also a lot simpler, and doesn’t force you to use visudo - which never made sense to me, visudo should’ve just generated the actual config, instead of checking it after the fact. Kinda like how grubby or grub2-mkconfig works. But no need for that complexity with doas.
Eg, the most basic doas config could just have one line in the file: permit: wheel. Maybe have another line for programs you want to run without a password, like permit nopass dexter cmd pacman.