Auditd_2.8-amd64.deb is 194kb on debian, rsyslog_8.32-amd64 is 411kb, and they both support centralized auditing and log collection from multiple hosts.
This doesn't seem a fair comparison. Prometheus is statically linked like all Go applications, and those packages are not. You can debate the merits of that, but if you compare a "only rsyslog" server vs a "only prometheus" server the 2 will be much closer in size.
Even journalctl is only 90kb, and the entire combined systemd package is 4mb (but that's including all the documentation and a dozen other different binaries)