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It doesn't appear they did basic research into the required security model for setuid/setgid/setcap binaries. It's pretty unfortunate since they do seem to care about security but were totally clueless about it and made a LOT of obvious mistakes beyond just setuid-specific ones.
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I don't understand how they ended up in the situation where they were writing a privilege escalation tool shipped by multiple Linux distributions. Some of the issues like the /tmp races are well known things not at all specific to the whole legacy setuid/setgid/setcap approach.
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If the goal is for your own user account to not have root access while having it yourself, then logging in directly as root is the way to go. SSH as root for a server or logging in as root via virtual console locally. Escalating to root from a user just makes them equivalent...
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