Yes, this was fixed in KDE 3.5.5:
http://www.kde.org/announcements/changelogs/changelog3_5_4to3_5_5.php
"kdesu
* Add sudo support. Fixes bug 20914. See SVN commit 570637.
"
Since the original bug has been fixed, I'm closing this bug.
mexlinux: if you'd like to file a bug for the sudo time issue, check to make
sure there are no duplicates and go ahead and file it.
Thanks for helping make kubuntu better.
** Changed in: meta-kde (Ubuntu)
Status: Unconfirmed => Fix Released
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kdesu hangs when password is still in sudo memory [kdesu hangs after using sudo
from konsole]
https://launchpad.net/bugs/27075
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