[kelnos]

I don't see how two sshd daemons and two sessions is less complicated.

Yes, removing sudo is one fewer moving part, but sshd is a much larger moving part than sudo. (If you think sudo is a larger moving part than it should be, I'd agree, and you can use doas instead.)

Regardless, the vast majority of my sudo usage is on my local machine, so there's no sshd involved at all.