Earlier quoted context omitted.
Specifically, here's Debian's output of sudo sudo -V: Environment variables to preserve: XAUTHORIZATION XAUTHORITY TZ PS2 PS1 PATH LS_COLORS KRB5CCNAME HOSTNAME DISPLAY COLORS Just set any of those on an account with sudo access to something that runs bash. Even if the bash command was something trivial.
That makes me think of another facet of this bug: it can bypass logging by sudo of the executed commands. A quick look at journalctl's output shows that sudo by default, at least on the distribution I'm using, logs only the original user, the tty, the current working directory, the target user, and the command. It does not seem to log the environment variables. So you could use an innocent-looking sudo command (like…
Hopefully you would not be white-listed to run things like that (always put the full path in sudoers), so you will need some sort of "obviously bash" in the log, but we all know what we have done at moments of interaction with paper-cuts. We have probably all lessened our security to ease discomfort here and there.