A workaround might be to make all setuid/setgid files non-world-readable because then they cannot be opened at all, and thus there is no setuid file to replace the contents of.
Fair enough -- a simpler change might be to poison /etc/passwd and call `su` to a user that has uid 0, since that requires no shell code nor a readable binary, and this seems to have worked in a slightly modified POC:
It being readable is the default configuration most places, after all the purpose is to call it from a non-privileged user. But I could see it being made non-readable since its use is discouraged nowadays... though then I'd expect sudo to be readable as an alternative.