1 - Unjoin the agent from the server with the following command:
/opt/quest/sbin/pmjoin_plugin -u
This will unconfigure Safeguard for Sudo on the system and unjoin it from the policy group.
2 - If needed you can then uninstall the Safeguard for Sudo client. (qpm-plugin)
3 - To configure sudo please consult your operating system vendor.