g_autofree char *docker_inspect_cmdline = NULL;
  if (root_dir != NULL)
    docker_inspect_cmdline = g_strdup_printf("chroot %s /bin/sh -c \"docker inspect %s\"", root_dir, container_id);
  else
    docker_inspect_cmdline = g_strdup_printf("docker inspect %s", container_id);

What static and dynamic analysis tools and rules could have found this vuln?

Almost regex:

  .*cmd.*=.*printf.*%s