test: Rewrite TransformInterpolationTests to remove its random failures (#4147)

Overhauling this test since it has been problematic for a long time. The root cause is that the values applied ended forming a discontinuously-linear/saw-tooth motion which makes it very problematic to distinguish a fault from an actual valid interpolation.

The actual solution is to use a smoothed sinusoidal wave that forms a continuous motion that is discernable between a fault and the motion being applied. There were additional order of operation issues that

Author: NoelStephensUnity