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sudo-1.9.15 doesn't seem to be restoring the tty settings correctly. Start a new xterm instance so that you get a new PTY (this is important--if you fix the terminal using a ^Jstty sane^J then sudo keeps working correctly on the same PTY). Then, if the shell is bash(1) and with the new sudo from the latest quarterly:
$ uname -a
FreeBSD x202e 13.2-RELEASE-p4 FreeBSD 13.2-RELEASE-p4 GENERIC amd64
$ sudo --version
Sudo version 1.9.15
Sudoers policy plugin version 1.9.15
Sudoers file grammar version 50
Sudoers I/O plugin version 1.9.15
Sudoers audit plugin version 1.9.15
$ echo $BASH_VERSION
5.2.15(0)-release
$ sudo echo hello
Password
hello
$ printf 'hello\nworld\n' # type blind because ECHO is off
hello
world
$ # notice stair-stepped effect. stty(1) indicates raw modeThe situation is much worse with dash(1) and ksh93. The system /bin/sh seems OK.
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