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Trying out an idea I had based on a number of issues I've encountered. Use the Leaflet Control class to put legends, images or other custom stuff on the map. That way they integrate better with other Leaflet features, such as full screen and potentially layer control.
Before this is ready I'll look at how this combines with layer control. And what the potential benefits are for other folium classes that are currently outside of Leaflet control.
Possibly related issues:
#450
#1344
#1079
#1167
Some lessons:
L.Layer
is not the way to go.