### 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)

Vector3 euler;
			real_t sz = rows[0][1];
			if (sz < (1.0f - (real_t)CMP_EPSILON)) {
				if (sz > -(1.0f - (real_t)CMP_EPSILON)) {
					euler.x = Math::atan2(rows[2][1], rows[1][1]);
					euler.y = Math::atan2(rows[0][2], rows[0][0]);
					euler.z = Math::asin(-sz);
				} else {
					
					euler.x = -Math::atan2(rows[1][2], rows[2][2]);
					euler.y = 0.0f;
					euler.z = Math_PI / 2.0f;
				}
			} else {
				
				euler.x = -Math::atan2(rows[1][2], rows[2][2]);
				euler.y = 0.0f;
				euler.z = -Math_PI / 2.0f;
			}
			return euler;
		}
		case EulerOrder::YXZ: {