### 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)

FabrikInverseKinematic::EndEffector ee;
	ee.tip_bone = tip_bone;
	Task *task(memnew(Task));
	task->skeleton = p_sk;
	task->root_bone = root_bone;
	task->end_effectors.push_back(ee);
	task->goal_global_transform = goal_transform;
	if (!build_chain(task)) {
		free_task(task);
		return nullptr;
	}
	return task;
}
void FabrikInverseKinematic::free_task(Task *p_task) {
	if (p_task) {
		memdelete(p_task);
	}
}
void FabrikInverseKinematic::set_goal(Task *p_task, const Transform3D &p_goal) {
	p_task->goal_global_transform = p_goal;
}
void FabrikInverseKinematic::make_goal(Task *p_task, const Transform3D &p_inverse_transf, real_t blending_delta) {