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Since we probably going to have to wait quite a while for Godot 4.0, i backported the improved rotation gizmo added in #42094 to 3.2. I think this is a huge usability improvement and should be included in 3.2.
All credit goes to @JFonS for this amazing work.
It was a pretty straightforward port. I basically just had to update the renamed classes/methods and change the render mode
depth_test_disabled
todepth_test_disable
in the shaders.