If you want sudo/root, then it’s the recommended way.
You can do that.
Yes.
Quote sysmaint, Usage
R4.2
In Qubes OS R4.2 and earlier: Kicksecure for Qubes cannot be booted into sysmaint session. However, user-sysmaint-split is useful in Qubes VMs too because it makes SUID privilege escalation tools (sudo, su, pkexec) inaccessible for account user. You can access the root account by opening a Qubes Root Console.
Much improved in Qubes-Whonix 18 for Qubes R4.3. Highly recommend as per Qubes-Whonix 18 Released! Major Release Upgrade!
See same link as above for R4.3 documentation.