### 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)

/* checking this is a bad idea, because obtaining from scaled transform is a valid use case
#ifdef MATH_CHECKS
	ERR_FAIL_COND(!is_rotation());
#endif
	*/
	
	real_t x, y, z; 
	if (Math::is_zero_approx(rows[0][1] - rows[1][0]) && Math::is_zero_approx(rows[0][2] - rows[2][0]) && Math::is_zero_approx(rows[1][2] - rows[2][1])) {
		
		
		if (is_diagonal() && (Math::abs(rows[0][0] + rows[1][1] + rows[2][2] - 3) < 3 * CMP_EPSILON)) {
			
			r_axis = Vector3(0, 1, 0);
			r_angle = 0;
			return;
		}
		
		real_t xx = (rows[0][0] + 1) / 2;
		real_t yy = (rows[1][1] + 1) / 2;
		real_t zz = (rows[2][2] + 1) / 2;
		real_t xy = (rows[0][1] + rows[1][0]) / 4;
		real_t xz = (rows[0][2] + rows[2][0]) / 4;
		real_t yz = (rows[1][2] + rows[2][1]) / 4;