### 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)

return is_processing_internal();
}
void SkeletonIK3D::start(bool p_one_time) {
	if (p_one_time) {
		set_process_internal(false);
		if (target_node_override) {
			reload_goal();
		}
		_solve_chain();
	} else {
		set_process_internal(true);
	}
}
void SkeletonIK3D::stop() {
	set_process_internal(false);
	if (skeleton) {
		skeleton->clear_bones_global_pose_override();
	}
}
Transform3D SkeletonIK3D::_get_target_transform() {
	if (!target_node_override && !target_node_path_override.is_empty()) {
		target_node_override = Object::cast_to<Node3D>(get_node(target_node_path_override));
	}
	if (target_node_override && target_node_override->is_inside_tree()) {
		return target_node_override->get_global_transform();
	} else {
		return target;
	}
}
void SkeletonIK3D::reload_chain() {