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My question: Is there a way to record all commands who execute a suid programme? Like what .bash_history do, but only the setuid programmes.

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If you have particular commands in mind you can configure auditd to record all execve uses with that binary:

auditctl -a exit,always -S execve -F path=/usr/bin/passwd

Then you can use ausearch to look for those invocations:

ausearch -x /usr/bin/passwd

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