And what is your executor?
I’ve found a post claiming that the issue was on ubuntu 12.04 used as executor, so maybe the executor you use has similar issue.
source: Sudo times out waiting for password on Ubuntu 12.04 - #3 by hselvarajan
And as per Sudo CircleCI Make Me a Sandwich - CircleCI it should not ask you for password.
You could also try with different version of helm client (e.g. 2.x.x) or different version of orb (try newest if you don’t use it or try some older if you use newest currently).
If nothing of that works, then the best would be to contact CircleCI support directly.