Nothing but Relativity, Redux

Abstract: Here we show how spacetime transformations consistent with the principle of relativity can be derived without an explicit assumption of the constancy of the speed of light, without gedanken experiments involving light rays, and without an assumption of differentiability, or even continuity, for the spacetime mapping. Hence, these historic results could have been derived centuries ago, even before the advent of calculus. This raises an interesting question: Could Galileo have derived Einsteinian relativity?