visudo command

I‘m setting up a new FreeBSD server. I do not want to use a default root user who has full system access. How can I setup and grant sudo privileges to users on a FreeBSD VPS or server?

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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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I‘m trying to run the following command:

ssh user@box.example.com sudo command1 /path/to/file

But, an error is displayed follows:

sudo: sorry, you must have a tty to run sudo

How do I fix this problem on Linux or Unix based systems?

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