When I thought about this question, I decided to ditch both sudo and doas entirely. I am certain this is an unpopular opinion, but I preferred setting up a granular permission + user system instead, and keeping root privileges for only a handful of use cases (primarily for system updates and package installations).

For anything else, a dedicated user is created, and given only permissions to do that exact thing only. Many of these users have no shell access at all, and for the ones that do, I use a password manager so I don't have to memorize passwords for all of these users.