Finding the smallest hypersphere with $\leq d+1$ boundary points in $\mathbb{R}^d$?

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Given a set of points $X \subseteq \mathbb{R}^d$, where $2\leq|X|\leq d+1$, how would one go about computing the center and radius of the $(d-1)$ sphere with the smallest radius where these points in $X$ lie?

For 2 points, $\vec{x}_0$ and $\vec{x}_1$, we find the midpoint $\frac{\vec{x}_0+\vec{x}_1}{2}$, which is the center point, and the radius $r = \frac{\|\vec{x}_0 - \vec{x}_1\|_2}{2}$

So, for any $3\leq k+1\leq d+1$ points, would the center of this hypersphere always be the centroid: $$\overline{X} = \frac{1}{k+1}\sum_{i=0}^{k} \vec{x}_i$$ with a radius being the Euclidean distance from the centroid to any point in $X$? How would I prove that all of these points are equidistant from the centroid? Or is am I thinking about this wrong? I think I'm wrong...

Let's say we have three points $(1,0),(-1,0),(0,1)$, and the center would be $(0,\frac{1}{3})$ with distances $\sqrt{1 + \frac{1}{9}} = \frac{\sqrt{5}}{3}$, $\sqrt{1 + \frac{1}{9}} = \frac{\sqrt{5}}{3}$, and $\sqrt{0 + \frac{4}{9}} \neq \frac{\sqrt{5}}{3}$, so I'm no longer sure about my reasoning.

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Given three points A,B,C in the plane, not collinear, the circle you want has its center where the perpendicular bisectors of the three triangle edges meet. Call that point P.

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Next, take those three points ABC, circle center P, but now add a fourth point D off the original plane. Every sphere with the three original points on boundary contains the circle we made. It follows that the center of the sphere we want lies along a line through P but perpendicular to the plane containing ABC. Then take three different points, maybe ABD, in that plane find circle center Q, draw a line through Q perpendicular to ABD. These two lines will meet in the center of the sphere we want.

Sphere-sphere intersection is not a surface

For dimension four, keep going.