Continue Kinematics migration #987

Job	Run time
ubuntu-24.04-clang-16 Debug (no-native C++-only)	18m 56s
ubuntu-24.04-gcc-14 Release (native+py)	23m 0s
ubuntu-24.04-clang-16 Release (native+py)	37m 0s
ubuntu-24.04-gcc-14 Debug (no-native C++-only)	18m 42s
	1h 37m 38s

Provide feedback