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Not really a fix, but orientations became accurate when a tool was included in the kinematic chain.

From what I can recall about the problem, it would seem that the joint position of the last joint didn't matter as the end-point was located in the center of that joint. However, from what I can understand, it should matter. Seemingly it did for FK but not IK. This problem no longer occurred when I added a tool to the kinematic chain.