I haven't read that particular article, but from other sources I've read quaternions appear to be mysterious/magical even to people who know them, while the rot

I haven't read that particular article, but from other sources I've read quaternions appear to be mysterious/magical even to people who know them, while the rotors have a very concrete geometrical interpretation in geometric algebra. Geometric algebra also addresses much more than just rotating stuff, it's just that when you want to do rotations it leads naturally to something very similar to quaternions.