@Yuan-Chen, you wrote "The user in admin group needs to enter the
password when they are doing something serious or potentially harmful to
the system" ... we are speaking about an action which happens when the
user has physical access to the machine (so he can connect the usb-c
device) with an unlocked admin session, what do you think that are the
extra safety risk created by authentificating the device?

Note that authentificating an USB device is not a destructive action
(not like formatting a disk or removing packages) and can be revoked at
any time.

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https://bugs.launchpad.net/bugs/1800715

Title:
  Prompt for credential when it shouldn't

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