• Create the privileged user with which you will run ansible playbooks

useradd ansibleuser
passwd ansibleuser
usermod -s /bin/bash ansibleuser
mkdir /home/ansibleuser
cp /etc/skel/.* /home/ansibleuser
chown -R ansibleuser:ansibleuser /home/ansibleuser

Or you might be interrested in doing that remotely with a script (Careful with the password!!!)

ex: create_ansible_user.sh

#!/bin/bash
 
AUSER=ansibleuser
PASSWD=ansibleuserpasswd
useradd $AUSER && echo $AUSER:"$PASSWD" | chpasswd
usermod -s /bin/bash $AUSER
mkdir /home/$AUSER
cp /etc/skel/.* /home/$AUSER
chown -R $AUSER:$AUSER /home/$AUSER 
echo "$AUSER ALL=(ALL:ALL) PASSWD: ALL" >> /etc/sudoers

ssh root@managedhost 'bash -s' < create_ansible_user.sh

• Add the user to /etc/sudoers and allow it to use sudo without password

ansibleuser ALL=(ALL:ALL) PASSWD: ALL

• Log in as Ansible user:

su ansibleuser

• Generate a pair of RSA keys:

ssh-keygen

• Copy the public key to the target server

ssh-copy-id ansibleuser@managedhost

• In ansible config file /etc/ansible/ansible.cfg

sudo_user      = ansibleuser
#ask_sudo_pass = True
#ask_pass      = True

• in the playbook: debianservers.yml

  become: yes
  become_user: ansibleuser