Following the publication of this work (Zippo et al. 2023a), we identified a few deficiencies in the original proofs. In the case of pseudoinverses, the proofs were found to be incomplete; however, the corresponding results remain valid. In contrast, the analysis concerning composition contained an error arising from an overlooked edge case, which affected both the theoretical results and the associated algorithm. In this erratum, we present corrected and complete proofs, as well as amendments to the affected results.
