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Linux: TMOUT To Automatically Log Users Out

How do I auto Logout my shell user in Linux after certain minutes of inactivity?
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Sudo is Not Prompting For a Password When Re-executed Second Time

I use sudo to provide permissions and command execution rights to other users under UNIX and Linux operating systems. However, I noticed something strange about sudo. When executing sudo, it will prompt for the user's password the first time, but sudo no longer requires a password anymore when re-executing it. Why? Is this is a security risk?
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