It's a trade-off. The point is the matrix security lapse turned worse because they ran this master / agent setup. You can still use ansible (or similar), just do it localhost during the build process.
Yea it's easier to not do these things, because good security posture takes work to set up. Once you're on the immutable train, you'll find it's not actually harder day to day. You learn to deal with issues in the pinch another way.
On the point of building VMs fresh each time vs building golden images, you'll find you boot time reduced, your roll over more reliable and autoscaling more responsive. Why build the same thing dozens or hundreds of times? What happens if a remote package is updated in the middle of your upgrade? Does this sound messier to you?