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CGAL errors usually happen when the turns between different path points are too tight, resulting in bits of the extruded path intersecting with itself. If that happens, a possible solution could be to break the object up into multiple sub-paths, and 'union' those components.

As far as I'm aware, it's not possible to expose the geometry of 2D objects using pure OpenSCAD code. If it were, the code for path extrusion would be made a lot simpler (I wouldn't need to re-implement rotation, for example).