The biggest difference we found is that sudo is a little more convenient to manage with a config management solution, since each piece of config management code can just drop a file in /etc/sudoers.d. With doas, we have to coordinate a bunch of parts of the config management manipulating one file, /etc/doas.conf.
Apparently whether it's used is configured at build time, because I get different results trying it on Arch and Alpine, but doas absolutely has a /etc/doas.d
EDIT: Oops, apparently Alpine added that - https://git.alpinelinux.org/aports/tree/main/doas/configurat...