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You should be able to just install tf-transformations with:

sudo apt install ros-galactic-tf-transformations

Also note from: https://github.com/DLu/tf_transformations

To use this package, you need to manually install the transforms3d library.

sudo pip3 install transforms3d

At the present time, you cannot install transforms3d via Ubuntu debian, nor can you force the installation of the tf_transformations package to also include transforms3d.