I’m sorry to hear that you are having issues with this particular style of deployment. Sadly, Octopus does require the steps listed in the documentation link you posted. One potential workaround that you may want to discuss with your security team is allowing password-less sudo access to a specific subset of commands only (for example, just systemctl), which may satisfy their security concerns.
Best of luck with this, and please don’t hesitate to reach out if you have any further questions.