One great way you can make things more secure is by reducing attack surface. sudo is huge and old, and has tons of functionality that almost no one uses (like --chroot). A from-scratch rewrite with a focus on the 5% of features that 99% of users use means less code to test and audit. Also a newer codebase that hasn't grown and mutated over the course of 35 years is going to be a lot more focused and easier to reason about.
Looks like a logic bug to me? So rust wouldn't have helped.
Those are exactly the kind of bugs you might introduce when you do a rewrite.