If the datastructure can be mutated in place and supports random access then you can do it in O(N) time and O(1) additional space. Just go through the array sequentially and for every index write the value at the index to the index specified by value, recursively placing any value at that location to its place and throwing away values > N. Then go again through the array looking for the spot where value doesn’t match the index – that’s the smallest value not in the array. This results in at most 3N comparisons and only uses a few values worth of temporary space.
# Pass 1, move every value to the position of its value
for cursor in range(N):
target = array[cursor]
while target < N and target != array[target]:
new_target = array[target]
array[target] = target
target = new_target
# Pass 2, find first location where the index doesn't match the value
for cursor in range(N):
if array[cursor] != cursor:
return cursor
return N