There should already be an entry for all "admin" users in the "wheel" group to be able to issue "sudo" command.
Perhaps try a "safe" boot and see if that helps.
The problem is the read-only / file system in many/most/all cases.
There is a very limited way to modify / by using something called "synthetic" links -- see "man synthetic.conf" for more info. But all that does is allow you to create links in the /System/Volumes/Data folder to other places in the "read-only" portion of the file system. Not quite the same as having a writable / filesystem. And it requires a reboot to make the change take affect, so not something that is especially convenient.
This sort of fundamental change to the way you use/administer a mac system is really quite a bothersome situation to me and would guess many other people who are used to being able to modify your own system without the OS putting up roadblocks to what you want to change to fit your own preferences. But those days are over it would seem, and I'm guessing maybe it might be time to look into using Mac systems with another operating system in some situations, like Linux or ??? That will be a very sad day, indeed, but certainly a possibility.
Good luck...