Here is a post I watched myself at the beginning.
15-462 Graphics Project 2: Simulating a Roller Coaster via Splines - Camera Control Method
Instead of the camera, you can also place any other element in this way.
With this method you get continuous arrangements.
Once you have the individual bases, you can determine the quaternation from them.
Because this function is not available in three.js docs, I have created it myself, see Quaternion - method .setFromBasis( e1, e2, e3 )
Among others used there:
CarRacingQuaternion
FlightRouteQuaternion