Resolution:
Here is a solution for this kind of issue.

If customer has sudo utility on this machine, they can just write a script file and replace the binary file tibhawkhma. In this script file, they can sudo to root to invoke the actually tibhawkhma binary file and pass the parameter to it.
But there is one thing that needs to be consider, if you want to start up the tibhawkhma as root, you need to make sure the environment variable LIBPATH of root user include the rv lib path. Otherwise, the sudo can not start it up by encounter the error that can not find the rv lib.
If you can not set the environment variable for root user, there is another workaround that you can just use the script to sudo invoke another script which you set the environment variable there.
I attached two sample files to this solution to demonstrate how they should be for later conditions.

After Hawk 4.8.1, we are not suppose to setuid for tibhawkhma on AIX machine, how can the TRA hawkagent start up the tibhawkhma with root user if the product is not already installed with root?