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The package is called opendoas and is present at almost any major Linux distro!
Steps are 0 ) adding the user to the wheel grp (should be default most cases), 1) adding that grp and allowing longer persistence before timeouts & 2-3) disabling the sudo binary
# 0 add to wheel grp
sudo usermod -aG wheel myuser
# 1 change /etc/doas.conf to only allow wheel users
permit persist :wheel
# 2 disable rather than remove the sudo binary
sudo chmod 0 /usr/bin/sudo
# 3 make it sticky to prevent changes
doas chattr +i /usr/bin/sudo
b) In case you wanna reenable sudo some day
doas chmod 4711 /usr/bin/sudo
doas chattr -i /usr/bin/sudo