iTerm 2 password manager is a close no hacks required solution that's slightly more involved but not all that much - add your password and on sudo prompt hit cm

iTerm 2 password manager is a close no hacks required solution that's slightly more involved but not all that much - add your password and on sudo prompt hit cmd+shift+f, touch id and enter. The touch id part is once per iterm session so overall it's not too bad and reasonably secure as it uses built-in keychain to store passwords I think.