pydrake: Segfault when using `RigidTransform_[Expression].multiply(ndarray[Variable])`

[RussTedrake]

This one is a blocker for me. Would really appreciate some help:

from pydrake.all import RigidTransform_, MathematicalProgram, Expression

prog = MathematicalProgram()
p_A = prog.NewContinuousVariables(3)
X_WA = RigidTransform_[Expression]()

print(X_WA.multiply([0,0,0]))
print(X_WA.multiply(p_A))  # <-- this line segfaults

results in

[<Expression "0"> <Expression "0"> <Expression "0">]
zsh: segmentation fault  python3 test.py