Yes, have a read of the sudoers man page and marvel at the complexity of the configuration, and wonder about your chances of getting it right if you are not well-experienced. This is the config file with the infamous paragraph:
The sudoers grammar will be described below in Extended Backus-Naur Form (EBNF). Don’t despair if you are unfamiliar with EBNF; it is fairly simple, and the definitions below are annotated.
OpenBSD replaced sudo with their own "doas" command a few years ago; the doas.conf manual page is about 100 lines; sudoers is over 2,000.
`su` is straightforward, `sudo` is a very powerful piece of software and the configuration has a lot of edge cases.