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I noticed while working on #9124 that some old codepaths seem to assume keys don't necessarily exist in rcParams, which may possibly have been the case a long time ago but is not the case anymore today -- so remove all rcParams.get by indexing into rcParams.
... except in axis3d which tries to look up the nonexistent ztick.major.width and ztick.color, so keep the fallback on xtick.major.width and xtick.color (I did not add the whole suite of ztick.* rcParams to rcsetup because in that case we'd better make sure all of them are respected, which is another project in itself). Now that I was there I could as well do some style cleanups in axis3d.py.
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