1. Here is a video tutorial

Scripts and configuration files are available here:

1. Install sshpass

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sudo zypper install sshpass 

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sudo apt install sshpass 

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sudo dnf install sshpass 

2. Install sudo on remote hosts

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sudo zypper install sudo

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sudo apt install sudo 

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sudo dnf install sudo

3. Type the below command:

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visudo

4. Change %sudo or %wheel to %admins

5. Add the below line:

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%admins  ALL=(ALL) NOPASSWD: ALL

Save and exit

6. Add admins group

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groupadd admins

7. Create a file on a master server where you will install ansible in the future

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vim pass_file

and place a password for the user that is currently able to connect to remote hosts.

8. Make the script read only for this user

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chmod 400 pass_file

9. Create a list of servers with IP addresses or hostnames

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vim servers

10. Create a script

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vim  ansible-sudo.sh

And add the below content

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#!/bin/bash
servers=$(cat servers)
echo -n "Enter the username: "
read userName
clear
for i in $servers; do
  sshpass -f pass_file ssh -q -t $USER@$i "hostname; sudo usermod -aG admins $userName"
done
echo
read -n1 -s -p "Checking? (y)es or (n)o " ans
echo
if [ $ans == 'y' ] ;then
  for i in $servers; do
    sshpass -f pass_file ssh -q -t $USER@$i "hostname; id $userName"
  done
fi

11. Make sure that PasswordAuthentication has set boolean value to yes in /etc/ssh/sshd_config file on remote servers

12. Make the script executable

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chmod +x ansible-sudo.sh

13. Execute the script

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./ansible-sudo.sh

14. Provide username: ansible

15. See the result. User ansible should be added to group admins.