Doubt it. The one thing doas is missing (from my POV) is caching the authorization. Sudo will allow you to cache the authorization on every(?) platform, but doas will only allow this on OpenBSD. If you're running "sudo bash" to avoid reentering your password a million times, doas (likely) won't help.
However if you're running "sudo bash", you should probably consider setting the root shell appropriately and just use "sudo -l".