The sudoers security policy requires that users authenticate themselves before they can use sudo.
When sudoers requires authentication, it validates the invoking user's credentials.
The expected output for:
sudo cvtsudoers -f sudoers /etc/sudoers | grep -E '^Defaults !?(rootpw|targetpw|runaspw)$'
Defaults !targetpw
Defaults !rootpw
Defaults !runaspw
or if cvtsudoers not supported:
sudo find /etc/sudoers /etc/sudoers.d \( \! -name '*~' -a \! -name '*.*' \) -exec grep -E --with-filename '^[[:blank:]]*Defaults[[:blank:]](.*[[:blank:]])?!?\b(rootpw|targetpw|runaspw)' -- {} \;
/etc/sudoers:Defaults !targetpw
/etc/sudoers:Defaults !rootpw
/etc/sudoers:Defaults !runaspw