And there are excellent parser generators out there. You don't have to fear introducing bugs via them.
I agree, in some typical cases I only need to specify "<user> can become root" or "<user> can become <user of group>", kinda like doas already does I think.
I'll probably try out doas when the next such special need arises, then resort to sudo if doas is insufficient for some reason.
I apologize if I'm being trite, but Context Free Grammar doesn't mean that the semantics of whatever that grammar describes is simple. It just means that it's simple to parse into ... something. Parsing a CFG is also not impressive in the slightest. It is, in fact, trivial since the 1970s. Anyway,
You shouldn't be scared of the CFG bit... you should be scared of the semantics.