How to define group-based sudo rules for AD users under /etc/sudoers

Solution Verified - Updated -

Issue

How to configure sudo rules for the AD users locally, after successfully enrolling a RHEL system to an AD Domain
How to define sudo rules for the AD users under /etc/sudoers, if the sudo_provider=ad of SSSD is not an option

Environment

RHEL7 directly integrated with AD
SSSD

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