Configuration for libpam-ssh-agent-auth
This deb package install libpam-ssh-agent-auth (via dependency) and change configuration to allow sudo via ssh-agent.
You need to copy user's public key(s) to /etc/site/sudo/allow/ after installation.
KB: https://wiki.debian.org/ConfigPackages
Tested on Debian 10/11 and Ubuntu 18.04/20.04
sudo true
curl -sOL https://github.com/rjsocha/config-libpam-ssh-agent-auth/releases/download/1.12/config-libpam-ssh-agent-auth_1.12_all.deb
sudo apt-get update -qq
sudo apt-get install -y ./config-libpam-ssh-agent-auth_1.12_all.deb
sudo cp ~/.ssh/authorized_keys /etc/site/sudo/allow/$USER
sudo -K
sudo tail /var/log/auth.log