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Some additional information:
I've run 'rpm --setugids sudo' and this sets the correct capabilities on the files but it sets incorrect permissions (note the lack of suid on /usr/bin/sudo):
[root@rhel8 ~]# ls -laZ /usr/bin/sudo
---s--x--x. 1 root root system_u:object_r:sudo_exec_t:s0 166064 Aug 19 13:15 /usr/bin/sudo
[root@rhel8 ~]# rpm --setugids sudo
[root@rhel8 ~]# ls -laZ /usr/bin/sudo
---x--x--x. 1 root root system_u:object_r:sudo_exec_t:s0 166064 Aug 19 13:15 /usr/bin/sudo
Attempting to 'sudo su -' as a non-root user at this point gives the following error:
$ sudo su -
sudo: /usr/bin/sudo must be owned by uid 0 and have the setuid bit set
$
Running 'rpm --setperms sudo' at this point sets the right permissions and I am able to 'sudo su -' as a non-root user:
[root@rhel8 ~]# rpm --setperms sudo
[root@rhel8 ~]# ls -laZ /usr/bin/sudo
---s--x--x. 1 root root system_u:object_r:sudo_exec_t:s0 166064 Aug 19 13:15 /usr/bin/sudo
Order seems important. Running 'setperms' before 'setugids' fixes permissions but doesn't fix capabilities. 'setugids' then sets incorrect file permissions by not setting the suid bit.