[Feature]: Implicit Solver

[JTHesse]

What are you trying to do and how would you want to do it differently?

The implicit solver that @CWillberg worked on in the Solver branch needs to be finalized

Is it something you currently cannot do? Is this related to an issue/problem?

Due to time issues we couldn't implement everything correctly.

Implementation details

No response

Would you be willing to submit a PR?

Yes