All you need to know about sudo and frankly most other pieces of the Linux userspace is that it is undertested. The commit that added this flaw to sudo claims to fix a parser bug but includes no tests. There is no reason for the author, the reviewer (if there even was such a person), or anyone else to believe that the bug existed or was fixed by this change. The pull request that supposedly fixes this CVE also includ…
"The PR does not include tests" is not the same as "nobody performed any tests" is not the same as "nobody actually noticed a bug".
And of course, it's perfectly reasonable to form beliefs about code from reading it.