Removing world-readability from all setuid-root binaries on the system would be sufficient to kill the PoC script provided for this vulnerability. It would not be sufficient to prevent exploitation though; there are many ways to abuse the ability to write to files you have read access to in order to gain root, for example by using the vulnerability to alter the cached copy of a file in /etc/sudoers.d/, or overwrite /etc/passwd, or /etc/crontab, ... the list goes on.
If they don't have world-execute permission, an access(2) check for executability would return negative, leading to things like shells not tab-completing it. The kernel would also deny attempting to execute it, as it is not executable for your fsuid.
This is not correct, as when the binary is setuid-someone-else, you are not the one executing it; they are.
Removing world-readability from all setuid-root binaries on the system would be sufficient to kill the PoC script provided for this vulnerability. It would not be sufficient to prevent exploitation though; there are many ways to abuse the ability to write to files you have read access to in order to gain root, for example by using the vulnerability to alter the cached copy of a file in /etc/sudoers.d/, or overwrite /etc/passwd, or /etc/crontab, ... the list goes on.