Setup Ansible with Ansible

ansible.cfg

[defaults]
inventory = hosts
remote_user = username /*A current user on all systems that has sudo privileges*/ 
ask_pass = True
host_key_checking = False
ansible_port = 22

ansible_user.yml

- name: Add Ansible user to all machines
  hosts: servers
  become: True
  tasks:
    - group:
        name: ansible
        gid: 2000
        state: present
    
    - user:
        name: ansible
        comment: "Ansible"
        uid: 2000
        group: ansible
        groups: wheel
    
    - name: Set authorized key took from file
      authorized_key:
        user: ansible
        state: present
        key: "{{ lookup('file', 'id-rsa.pub') }}"
    
    - name: Allow 'wheel' group to have passwordless sudo
      lineinfile:
        dest: /etc/sudoers
        state: present
        regexp: '^# %wheel'
        line: '%ansible ALL=(ALL) NOPASSWD: ALL'

hosts

[servers]
server01
server02
server03
server04

Setup Ansible with Ansible

Run 

> ansible-playbook --ask-become-pass ansible_user.yml