### 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)

_set_diagonal(p_scale);
	rotate(p_axis, p_angle);
}
void Basis::set_euler_scale(const Vector3 &p_euler, const Vector3 &p_scale, EulerOrder p_order) {
	_set_diagonal(p_scale);
	rotate(p_euler, p_order);
}
void Basis::set_quaternion_scale(const Quaternion &p_quaternion, const Vector3 &p_scale) {
	_set_diagonal(p_scale);
	rotate(p_quaternion);
}
void Basis::_set_diagonal(const Vector3 &p_diag) {
	rows[0][0] = p_diag.x;
	rows[0][1] = 0;
	rows[0][2] = 0;
	rows[1][0] = 0;
	rows[1][1] = p_diag.y;
	rows[1][2] = 0;
	rows[2][0] = 0;
	rows[2][1] = 0;
	rows[2][2] = p_diag.z;
}
Basis Basis::lerp(const Basis &p_to, const real_t &p_weight) const {
	Basis b;
	b.rows[0] = rows[0].lerp(p_to.rows[0], p_weight);
	b.rows[1] = rows[1].lerp(p_to.rows[1], p_weight);
	b.rows[2] = rows[2].lerp(p_to.rows[2], p_weight);
	return b;
}
Basis Basis::slerp(const Basis &p_to, const real_t &p_weight) const {