So according to the comments it isn't actually gone, just the wording updated and now dependent on if you have actually set up the mailer to report it somewhere https://github.com/sudo-project/sudo/commit/9757d29a24ac1872...
That seems pretty stupid. While they're at it, why not update the SSH warning banner with a list of what we do and don't log on this system. As a courtesy to their adversary. This sudo message has been the same since the dawn of time. There is literally no reason to correct it. This is the one place you don't want to be pedantic, leaking security configuration via stderr.
Nowadays it's even worse than it once was, because now the natural instinct of people is to think that the incident was reported to canonical or ibm. The opposite of how they are supposed to feel about when using free software.
I'd change it to "This attempted was logged" or something like that when that is true. Just so the user is aware that the data they are typing there may be seen by someone else. But by default, in their own systems, that message should never appear, unless they specifically configured it that way.