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Fix slerp at coincident/antipodal endpoints, and SO2/SE2.interp1() #565

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Run time

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Job	Run time
unittest (ubuntu-22.04, 3.11)	42s
unittest (windows-latest, 3.13)	1m 19s
unittest (windows-latest, 3.10)	1m 34s
unittest (macos-latest, 3.10)	1m 32s
unittest (ubuntu-22.04, 3.10)	51s
unittest (macos-latest, 3.11)	54s
unittest (ubuntu-22.04, 3.13)	57s
unittest (ubuntu-22.04, 3.12)	40s
unittest (macos-latest, 3.12)	57s
unittest (macos-latest, 3.13)	1m 0s
all-unittests-passed	2s
codecov	57s
sphinx / sphinx	0s
	11m 25s