"I haven't implemented arc blending with more than 3 axes yet. However, the last big refactor will make it easier to do that in the future. The big obstacle is that it requires changing how the trajectory planner treats velocity and arc length internally. Right now, the path progress and velocity only consider XYZ motion, and the other axes follow proportionally. To get arc blending to work with other axes, the planner needs to consider all 9 axes when calculating path progress and velocity. It's not as scary as it sounds, since most of the math is the same. However, it means a lot of small changes in the TP."
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