Sudo is kind of a UX tool for user sessions where the user fundamentally can do things that require admin/root privileges but they don't trust themselves not to fat finger things so we add some friction. That friction is not really a security layer, it's a UX layer against fat fingering.
I know there is more to sudo if you really go deep on it, but the above is what 99+% of users are doing with it. If you're using sudo as a sort of framework for building setuid-like tooling, then this does not apply to you.