Information
sudo can be configured to run only from a pseudo-pty
Note: visudo edits the sudoers file in a safe fashion, analogous to vipw(8). visudo locks the sudoers file against multiple simultaneous edits, provides basic sanity checks, and checks or parse errors. If the sudoers file is currently being edited you will receive a message to try again later.
Attackers can run a malicious program using sudo, which would again fork a background process that remains even when the main program has finished executing.
Solution
Edit the file /etc/sudoers or a file in /etc/sudoers.d/ with visudo -f <PATH TO FILE> and add the following line:
Defaults use_pty