Usuário Shawn J Goff respondeu a essa peculiaridade em outra pergunta que era o contrário disso 1. A resposta é aqui e é a seguinte:
From
man sudoers
:timestamp_timeout
Number of minutes that can elapse before sudo will ask for a passwd again. The timeout may include a fractional component if minute granularity is insufficient, for example 2.5. The default is 5. Set this to 0 to always prompt for a password. If set to a value less than 0 the user's timestamp will never expire. This can be used to allow users to create or delete their own timestamps via sudo -v and sudo -k respectively.