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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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As with sudo, it's largely just a way to mislead yourself into thinking users aren't root equivalent. The focus on regex-based rules is a really bad idea. CLI tools are not generally written with the threat model that they're enforcing a security boundary and can't trust args.
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