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I know this is the Rust subreddit, but I have to ask if you considered Julia? It seems purpose-built for what you're trying to do. It has built-in multidimensional arrays which are significantly more ergonomic to use than either Python or Rust, and because of the way the type system works there are tons of specialized array types you can use with optimized operations (and writing your own is quite easy). In particular you might be interested in StaticArrays.jl which if your arrays have a known, small size at compile-time can give a massive speedup by essentially automatically doing many of the optimizations you did by hand. They show a 25x speedup on eigendecompositions for a 3x3 matrix on their microbenchmark.
Unfortunately there currently is no poetry interop with the rust tooling. poetry is focussed on pure-python packages, and while a build.py distutils integration exists, it is undocumented and unstable and lacks a lot of what you'd want of a proper rust integration. To still get all the benefits of poetry I recommend making a pure rust package and depending on it with your poetry python package.