Do you see the new option available in R2023x to define accessory ?

Before (and by default now) the axis position of the accessory has to be managed with Machine Instruction (locked) to do 4 axis positioning 

Now you can define the accessory axis as “merged with machine kinematics” and Machine instruction are no more mandatory ...and you can also mill in 4 axis continuous 

A small button, but a huge improvement to improve the resources definition ! and to be more and more closed to the digital twin