### Godot version

4.0.2

### System information

Windows 10 960m

### Issue description

When using the skeltonIK3d on a simple bone chain, the roll axis of bones are not working correctly. As can be seen in this clip comparing 3.5 to 4.0.2, when moving the ik target on the x axis, the bone roll of the shin bone twists in a very strange way.

When the ik target is just moving up and down on the y axis 4.0.2 looks the same as 3.5. I have tried many ways of setting the roll axis in blender before exporting, but this seems to make no difference in godot.

https://github.com/godotengine/godot/assets/7741669/524f9450-8582-4336-96a2-397ffe915d2d

@lyuma I also tried this with your recent fix in master and it does not fix this issue, unfortunately. I did try the scorpion demo scene and I can see that it resolved that. Simple 2 or 3 bone chains seem to exhibit this odd roll issue...maybe the long chain on the scorpion tail is covering up the issue?

On a side note, I am getting tons of crashes trying to test out simple ik with the standard tool script. Especially just clicking in the skeletonik3d node. 

### Steps to reproduce

- import a simple 2 or 3 bone skeleton such as a leg
- add a skeltonik3d node
- fill in the node parameters and add a marker3d as target
- add a tool script to start off the ik solve
- move the ik target on the x axis and observe the twisting

### Minimal reproduction project

This has the 3.5, 4.0.2 file and the blend file

[ik_roll_bug.zip](https://github.com/godotengine/godot/files/11521836/ik_roll_bug.zip)

default: {
			ERR_FAIL_MSG("Invalid order parameter for set_euler(vec3,order)");
		}
	}
}
bool Basis::is_equal_approx(const Basis &p_basis) const {
	return rows[0].is_equal_approx(p_basis.rows[0]) && rows[1].is_equal_approx(p_basis.rows[1]) && rows[2].is_equal_approx(p_basis.rows[2]);
}
bool Basis::is_finite() const {
	return rows[0].is_finite() && rows[1].is_finite() && rows[2].is_finite();
}
bool Basis::operator==(const Basis &p_matrix) const {
	for (int i = 0; i < 3; i++) {
		for (int j = 0; j < 3; j++) {
			if (rows[i][j] != p_matrix.rows[i][j]) {
				return false;
			}
		}
	}
	return true;
}
bool Basis::operator!=(const Basis &p_matrix) const {
	return (!(*this == p_matrix));
}
Basis::operator String() const {
	return "[X: " + get_column(0).operator String() +
			", Y: " + get_column(1).operator String() +
			", Z: " + get_column(2).operator String() + "]";
}
Quaternion Basis::get_quaternion() const {