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So I found an other question on this forum that answers my question. It can be found here: https://answers.ros.org/question/10285/how-does-tf-do-interpolation/

I was not aware of the concept of "interpolation" of data points. It seems I do not need to have the exact time stamp in the tf for the transformation to be found, as long as my requested transformation is inside the buffer of the tf map.

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