The defaults need to be this to allow non-admin users to run actions:

<defaults>
         <allow_inactive>no</allow_inactive>
         <allow_active>yes</allow_active>
</defaults>

Specifying auth_admin for the allow* tags means that only a user
authorized as admin can run the action.

** Changed in: muon (Ubuntu)
       Status: New => Invalid

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https://bugs.launchpad.net/bugs/1074807

Title:
  Continues prompting for password even if set NOPASSWD in sudoers

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