sudo: /usr/bin/sudo must be owned by uid 0 and have the setuid bit set
Hello Irwan,
Unfortunately, there is no option to restart VM in safe or recovery mode. However, you can manually change the owner/permission of the /usr/bin/sudo directory by attaching the disk of the affected instance, as a secondary to a temporary instance. This will allow you to fix the permission issue in the source disk.
Also I recommend you to create snapshot of the instance before doing any modification.