Hi, Jermaine RF
1. It should.
2. It should
3. It's something that the g-code needs to specify, There are several setting options for rotational axises, But I don't think you can have limits set and have Mach disregard them on the fiy.
4, 4a. Depending on what your going to do/make, Probably need to generate xyz code and edit in the B/C g-code by hand, There are some 5 / 6 axis cam/cad packages out there I'd think, High End Software.
No experience with any of them hear, Others may comment at some point.
Thanks, Chip