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It looks like configure detected the reallocarray() function in the C library but its prototype is not present in the header files. This could be due to an out of date libc6-dev package (or the equivalent). Alternately, if you ran configure on the host system but are building in the proot that would also explain it. Either way, I don't think this is a problem with sudo itself.
make[1]: Entering directory '/data/data/com.termux/files/home/sudo/plugins/group_file'
make[1]: Nothing to be done for 'pre-install'.
make[1]: Leaving directory '/data/data/com.termux/files/home/sudo/plugins/group_file'
make[1]: Entering directory '/data/data/com.termux/files/home/sudo/plugins/sudoers'
/bin/sh ../../libtool --mode=compile gcc -c -I../../include -I../.. -I. -I. -DLIBDIR="/usr/local/lib" -DLOCALEDIR="/usr/local/share/locale" -D_PATH_SUDOERS="/etc/sudoers" -D_PATH_CVTSUDOERS_CONF="/etc/cvtsudoers.conf" -DSUDOERS_UID=0 -DSUDOERS_GID=0 -DSUDOERS_MODE=0440 -DZLIB_CONST -I/data/data/com.termux/files/usr/include -D_FORTIFY_SOURCE=2 -g -O2 -fvisibility=hidden -fPIE -fstack-protector-strong -fstack-clash-protection ./pwutil_impl.c
libtool: compile: gcc -c -I../../include -I../.. -I. -I. -DLIBDIR="/usr/local/lib" -DLOCALEDIR="/usr/local/share/locale" -D_PATH_SUDOERS="/etc/sudoers" -D_PATH_CVTSUDOERS_CONF="/etc/cvtsudoers.conf" -DSUDOERS_UID=0 -DSUDOERS_GID=0 -DSUDOERS_MODE=0440 -DZLIB_CONST -I/data/data/com.termux/files/usr/include -D_FORTIFY_SOURCE=2 -g -O2 -fvisibility=hidden -fstack-protector-strong -fstack-clash-protection ./pwutil_impl.c -fPIC -DPIC -o .libs/pwutil_impl.o
./pwutil_impl.c:270:13: error: call to undeclared function 'reallocarray'; ISO C99 and later do not support implicit function declarations [-Wimplicit-function-declaration]
270 | gids = reallocarray(NULL, (size_t)ngids, sizeof(GETGROUPS_T));
| ^
./pwutil_impl.c:270:11: error: incompatible integer to pointer conversion assigning to 'gid_t *' (aka 'unsigned int *') from 'int' [-Wint-conversion]
270 | gids = reallocarray(NULL, (size_t)ngids, sizeof(GETGROUPS_T));
| ^ ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
./pwutil_impl.c:295:13: error: call to undeclared function 'reallocarray'; ISO C99 and later do not support implicit function declarations [-Wimplicit-function-declaration]
295 | gids = reallocarray(NULL, (size_t)ngids, sizeof(GETGROUPS_T));
| ^
./pwutil_impl.c:295:11: error: incompatible integer to pointer conversion assigning to 'gid_t *' (aka 'unsigned int *') from 'int' [-Wint-conversion]
295 | gids = reallocarray(NULL, (size_t)ngids, sizeof(GETGROUPS_T));
| ^ ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
4 errors generated.
make[1]: *** [Makefile:2662: pwutil_impl.lo] Error 1
make[1]: Leaving directory '/data/data/com.termux/files/home/sudo/plugins/sudoers'
make: *** [Makefile:116: pre-install] Error 2
an existing sudoers file. You can also install various pieces of
<ll-sudoers
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