Troubleshooting Adding asset via Sudo

I've managed to add a Solaris asset in my environment using roles, but I would prefer to use Sudo... All of the attempts I have made using sudo result in the same error:

	07/11/2019 09:04:31 AM MDT INFO Starting credential verification. (10240)
	07/11/2019 09:04:56 AM MDT ERROR Credential verification failed. Please verify discovery credentials and retry. (10242)
	07/11/2019 09:04:56 AM MDT ERROR Subprocess: /usr/bin/sudo -l  execution failed: Unable to send command /usr/bin/sudo -l  to session SessionInfo#10342 owner: Thread[JM-<opsCenterHost>.84.1.487.1709_<IP>,5,JM-Tasks] for Session : { ip-address=<IP>, ssh-port=22, ssh-username=<user-with-sudo>
	07/11/2019 09:04:56 AM MDT ERROR , ssh-rolename=root } : Expect times out after 20 seconds. Output string "Matching Defaults entries for root on <hostname>: