 Axial transformation of orthogonal gauge connections

For an orthogonal group gauge transformation $R\in O(3)$, a scalar vector transforms as $\varphi \mapsto R\varphi$. The gauge connection belongs to the Adjoint representation, identified with axial vectors: the displayed cross-product identity makes its homogeneous transformation $A\mapsto (\det R)RA$. The matrix connection also has the usual inhomogeneous derivative term. Thus $D\varphi$ transforms as an ordinary vector, including under improper orthogonal transformations. Treating both fields as ordinary vectors would fail because a cross product changes sign under an orientation reversal. A nonzero vector vacuum has stabilizer subgroup $O(2)$; its connected part is $SO(2)$.