Not parent but, simpler configuration, more focused tool (that can be both good and bad), if you compile it’s faster as less dependencies, etc. Honestly, all depends on your use case and what you know (Simple all depends on where you’re coming from)

It has less features so it has a smaller attack surface. Unless you need a specific featurd found only in sudo, your probably safer with doas.

sudo is an optional dependency for a lot of packages but it's a hard deps only for :

  - ceph
  - cloud-init
  - deepin-deamon
  - x2goserver

If you don't need one of the above packages, install and configure doas as described by the wiki, pay attention to that section : https://wiki.archlinux.org/title/Doas#Smooth_transition_sudo... . When doas work correctly remove sudo or if you needed one of the listed packages, changes it's permissions to 000.