I think these problems are basically negligible because the amount of people trying to "configure sudo to be safe to use for unprivileged users, by only allowing specific things to run with it" is negligible. Virtually all users of sudo are using it on their own computer which they are the sole user and ultimately the administrator of. Even in corporate contexts where the company owns the machine instead of the user, I've only ever seen cases where the use of sudo is unrestricted albeit logged. Where are these organizations where developers or syaadmins are allowed to use sudo but only with white listed commands? I don't doubt that some people are doing this, I just think it's not common.
Replacing the whole of sudo with some weird new thing to better support a niche usecase seems disconnected from reality to me.
Replacing the whole of sudo with some weird new thing to better support a niche usecase seems disconnected from reality to me.