I see people talking about doas saying it's just like sudo but with less features. I'm just wondering if there is any situation where you should use doas or if it's just personal preference.
It's really only more secure in the sense that in general more complicated programs have more things that can go wrong with them. Either bugs, or just user error.
That is a valid concern, and most people don't need or use any of sudo's extra features, so it's completely reasonable to switch to doas because of that, but it's not like there's some glaring security flaw in sudo that most people really need to worry about. Especially if they're not doing weird things in the config, which would mostly be the same people who could easily switch to doas anyway.
It's entirely configurable but I think by default sudo will "cache" your authentication for a period of time so multiple commands in the same session only need the password entered once. You can even configure sudo to not need a password for certain commands (although obviously you need to be careful you're not opening a hole in your security).
doas is likewise configurable; though the mechanism that keeps track of the timeout is different on OpenBSD (where doas originated) & Linux ---- and there used to be some reservations about the latter implementation.