If there is a non-error effect in running sudo rm /foo, then indeed it should have the same effect as rm /foo as root in the chroot environment.
But using sudo, or even root, in a chroot environment isn't good security practice in the first place. For example, the environment's /etc/sudoers, /etc/shadow, /etc/passwd can all be different (but actual user ids are shared), while the environment could mknod the root filesystem device, mount parts of the host under /usr and /home and quite possibly elevate its access to the host filesystem, in which case sudo in a chroot environment would interact with the host in perhaps ways that are not directly constrainable in sudoers in the first place.
I imagine it's possible to carefully construct the chroot environment and craft /etc/sudoers in a way to avoid this, but I wouldn't even try.
In a better contained system implemented with namespaces (as in docker) sudo should work as expected. I imagine e.g. with docker you could have a service that responds to the system dbus messages, either as a separate daemon in the container or something even provided by docker itself. Or, maybe the requests from the container could be forwarded to the main systemd, with information about the context the request comes from, and let it choose how to move forward.
In the end I don't think I agree that a sudo replacement exchanging messages directly with the systemd is the best way to go. There could be another daemon, run by systemd (or not), that handles these messages. I suppose in the case of dbus there is no "dbus firewall" to limit the access to dbus as one can limit access to Unix domain sockets with plain old permissions, though, so perhaps the security benefits would be minimal in the dbus architecture.