And I agree that the typical sudoers config that allows opening terminals as root isn't a good idea.
What I prefer lately is using a yubikey neo to ssh access a root shell. You can configure sudo and authorized_keys to allow directly opening a root shell and you never enter any passwords anywhere except the pin to unlock the yubikey's openpgp applet. The yubikey will lock the key after six unsuccessful pin attemps and you can just yank the key out when it's not being used.
Now all I need is some sort of phone app that reaches out to me on a side-channel to pops up asking me to authorize each login (something like libpam-askmeonmyphone)--(I really like the way the Microsoft Account 2FA phone app works in this regard). If I could change one thing about the yubikey neo, it's that I'd require it to make me physically interact with it to decrypt anything (beyond entering the PIN).