Is it okay to have an additional authors for majority of my work in my undergrad thesis?
Since you are not asking about the legalities of handing in such a thesis, I will assume that you have checked that there are no problems obtaining your qualifying degree after handing it in. My answer is contingent on that. I am not in CS, but I don't think the answer is field specific. (in fact it is probably not even specific to academia, but also holds for industry to some degree)
The main question I want answered when I look at PhD applications is:

Can this person independently perform high quality work? Or do I have a reasonable expectation that it will be easy to teach the person to do so?

Strong indicators for this are:

Consistently good performance in courses.
A well-written undergraduate thesis which reflects independent work.
A publication based on thesis work, where it is clear that the student was a driving force.
Independent projects performed at eg. summer schools.

Weaker, but still good, indicators are:

Recommendation letters highlighting the candidate's independence.
Publications where it is clear that everything was completely driven by a supervisor, and the student was just along for the ride.
Experience working with different supervisors.

Red flags:

A weak thesis, not reflecting independent work at all.
Poor performance in courses.

If I got an application from a person with essentially no undergraduate thesis, but a compilation of pre-prints with co-authors, my natural question would be if the person has actually done any of this work themselves. I am not hiring the full team who published these papers - I am hiring one student, who is likely the most junior person on those teams. I would need to be convinced that these papers are the product of your work. You could do that by:

Specifying your contribution to the individual papers in your application.
Actually writing a full thesis, and not a compilation, at mark the papers as &quot;based on thesis X&quot;. This would come off very strong, especially if they eventually get published.
Having a supervisor write a recommendation letter saying that, yes, you did a lot of work.