If you are running 5th axis positional, OneCNC XR2 has a very strong, easy to use package. I have looked at it, but do not have an actual trunnion table to play with. But even just working through a couple of examples in the program, it's a piece of cake. No fear here!
Get yourself a live demo from OneCNC in Florida if you are wanting to see more. Or check their website, too, for movie type demos.
Edit: I guess I should add that OneCNC has the full 4 axis positional, 4th axis wrap and 4th axis live that goes along with the 5th axis positional.