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Escher did that particular tessellation in both hyperbolic and elliptical geometric—the Poincare disk in "Circle Limit IV" shown in the question, and a spherical wooden sculpture (reproduction shown here: mcescher.com/product/sculpture-sphere-angels-devils ).
My high school geometry book included axioms that a line contained two points; a plane contained three non-collinear points; and space contained four non-coplanar points. Axioms like these are needed for a rigorous description of Euclidean geometry, but after introducing them, the textbook never mentioned them again.
The exponential mapping always maps provides a diffeomorphism from a sufficiently small ball around the origin in the tangent space (the Lie algebra $\mathfrak{g}$) to a neighborhood of $e$ in $G$. This gives the logarithmic coordinates for $G$ around the identity, which it seems like should be enough to prove this.
Indeed, as somebody who mostly works as a physicist now, my immediate reaction to the question was that the cosine transform formula had to be wrong, simply because it has the wrong units.
@Stef Continuous functions originating from the same point have a relatively natural measure on them, in the form of Brownian motion (Wiener measure). Under that measure, almost all the continuous functions are nowhere differentiable.