What godot feature do I need to implement my idea

The idea is this:
Using a self-created DSL, I want to script a set of objects to move a certain path.
I want the script/DSL to be interpreted in-game.
The DSL part I can probably do myself, but the resulting movements I am unsure of, since there are rotations around own center, rotation around common center of 2 or more objects, or rotations around fixed center, and the same for translations.
There would be no scale changes though.
I’ve worked with tweens before, but those seem cumbersome to try and implement this, but I don’t see another way to do this at the moment…

By DSL do you mean Domain Specific Language?
That will involve writing a parser to understand whatever paths you script / DSL describes and apply them in the Godot engine. Look into parsers and state machines.
If you don’t want to reinvent the wheel you could have look at a language called Logo. As it already exists there may be ready-made libraries you can use for the parsing. The GDQuest GDscript tutorial actually kinda uses Logo.

Regarding moving the object themselves, you will have to do vector math to find your centers of rotation from the coordinates of the individual objects involved. You will need to understand tranforms as well.

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