I reproduced this targeting sudo (just `cat` the parent tty), in fact able to capture my password as I type it in, and capture commands as they are being typed in. Surprised it was not mentioned that it breaks the terminal while you run it, no characters get sent to the program.
Edit: Here is a POC https://gist.github.com/bahorn/198987f55611f2011a91a5af09e7c... so you can see that this applies to sudo as well.
The problem is you can not hijack (meaning command exec right?) a root shell running under your account with this unless there is an approach that hasn't been mentioned yet. You can read character input, stopping the program from receiving input while you are doing so, of a process your user account directly started. I investigated the other ways and he hasn't given a viable one beyond running stuff directly in shell of the target session (TIOCSTI doesn't work if you target a different pty) or using ptrace.
All of these apply to other programs as even though they set root permissions on their pty as you can influence their parent. You need to chown both if you want to stop issues, but that'll probably break stuff. To be clear his whole point is that systemd is less secure compared to sudo etc but is using something that applies to everything to try and show that, involving using pocs that didn't even show the issues he was claiming, which is disingenuous.