Broken: v2.82a and blender-2.90-f9d0f59bed4d-windows64
**Short description of error**
There is a large difference between using the insert keyframe menu to insert Visual LocRot compared to if you Apply Visual Transform to Pose and then use normal keyframe LocRot.
Visual LocRot does not match the be beginning or ending keyframe transforms. If you iterate the keyframe insertion, the keyframe transforms approach the desired result. It as if all of the iterations of the IK constraint are not allowed to fully converge before the keyframe is being inserted.
With manually Apply Visual Transform the starting and ending transforms are correct.
(Note: the key frames interpolate the joint rotations differently in the in-between frames but this is expected behavior)
**Exact steps for others to reproduce the error**
Using Keyframe Menu (broken):
Iterating Keyframe Insertion (Semi-working):
Manually applying transforms to Pose (working):