Thanks for sharing - have stumbled over the term "geometric algebra" a couple of times, but this article made it click for me.

I completely agree with the sentiment that the algebraic mumbo jumbo often used to introduce quaternions is not very satisfying. Fortunately, as quantum computing becomes a mainstream topic, more people will have to learn about "Rotations on the Bloch sphere" [0] -- and then quaternions and rotations actually make sense.

[0] https://en.wikipedia.org/wiki/Bloch_sphere#Rotations_about_a...