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The semantics of a twist are not clearly defined in the Twist message so we can't generically transform it. And as such the method was not ported to tf2.

If you want to implement your own way to do this. It's just applying discrete differentiation. You have the algorithm right. You take the difference between position 1 and position 2 and divide by the change in time to get the "velocity". This also is not necessary as a core function as it doesn't require any extra core data. Just needs to have buffer available to query.

You can look at the full implementation in tf here: https://github.com/ros/geometry/blob/4421e22243a38ba6a130494698b33117d2995a18/tf/src/tf.cpp#L270