I tried using doas but I don't get it. On the one hand there's some inertia with everything on Linux expecting sudo, on the other, the claims about speed, simplicity and simpler configuration rang pretty hollow to me. Especially since I believe doas can't do things like custom logging.
TBH I mainly just like it because the configuration file is a single line. It also never even occured to me for sudo or doas to log anything, so there's that.
Also, I don't have sudo installed at all on my system, and everything seems to work fine with doas. YMMV.
If I recall correctly, the main reason for its existence was due to the recurring security issues with sudo. doas was designed to be a more simple tool with a smaller attack surface.