Add 4d SO3 optimizer

[keefemitman]

Extend align2d to optimize over the full SO(3) transformation (as well as the time translation).

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📚 Documentation preview 📚: https://sxs--90.org.readthedocs.build/en/90/

[keefemitman]

After talking with @duetosymmetry I'll change the optimization space to be over quaternion components

[codecov-commenter]

Codecov Report

Attention: Patch coverage is 4.65116% with 82 lines in your changes missing coverage. Please review.

Project coverage is 42.22%. Comparing base (85f905f) to head (7ee0d91).

Files with missing lines	Patch %	Lines
sxs/waveforms/alignment.py	4.65%	82 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main      #90      +/-   ##
==========================================
- Coverage   42.65%   42.22%   -0.43%     
==========================================
  Files          80       80              
  Lines        6731     6806      +75     
  Branches     1075     1087      +12     
==========================================
+ Hits         2871     2874       +3     
- Misses       3614     3686      +72     
  Partials      246      246              

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