A fresh look would be perhaps doas [1] from the OpenBSD project.

[1]: https://man.openbsd.org/doas.1

sudo-rs tries to be more or less a drop-in replacement for the original one, though, meaning minimal reconfiguration should be required for it.

I think if rust was used to replace other bits (say things like utilities like grep or whatever) instead of security vital things like sudo, there would be less complaints.

Do you mean like uutils/coreutils.. Which certainly collects complaints :).

No doubt. I'm just guessing people would grumble less.