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Good news: trying the following command successfully decrypted my SD card without any errors:
sudo dmsetup create crypt1 --table "0 `sudo blockdev --getsize /dev/mmcblk0p2` crypt aes-cbc-essiv:sha256 [16-BYTE HEX KEY] 0 /dev/mmcblk0p2 0"
A couple of minor issues:
sudo mount -t /dev/mmcblk0p2/crypt1 /media/mint/sd returned the error mount: /media/...
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