How to apply a JavaFX transform to a rotation/attitude axis/angle?

Question

There is a Transform#transform(X,Y,Z) method that I am able to use like this:

Transform t = node.getLocalToSceneTransform();
Point3D xyz = t.transform(node.getTranslateX(),node.getTranslateY(),node.getTranslateZ());

How do I do the companion transform of an attitude (axis/angle), something like:

double angle = node.getRotate();
Point3D axis = node.getRotationAxis();
t.transform(angle, axis) // ??

I do not see methods in either Transform or Affine class to do this.

Here is the closest related post: How to get the absolute rotation of a Node in JavaFX