TCP 5-axis kinematics

I would like to help but it's impossible to troubleshoot like this from afar. You give no information about your machine other than that it is an xyzac type.
Anybody trying to help would need to know:
- what does your machine setup look like? (a picture would give a general idea).
- what are the physical offsets in the rotary assembly (ie dy,dz) and in which direction are they measured (from the rotary face to the rotation-point or the other way around)?
- where do you have the machine reference point (home position), is it in the center of the c rotary table or in the rotation-point or elsewhere?
- what do your current ini and hal files look like?

So from what i understand tcp tracking works for rotations of the c axis but doesn't work for rotations of the a axis?

I don't have a 5axis machine so maybe you can explain something I have generally wondered about:
I notice that your joint HOME values in the ini file are all zero. Also your 'rot-point' values are all zero. Are you sure that your machine home position is located exactly in the center of the rotary C table? If you home the machine and you position a dial indicator on the center of the rotary C is the absolute coordinate position (G53) really (0,0,0)?
I just have difficulty to believe that a machine builder would go through the trouble of setting the machine up in a way that it homes the x,y,z joint so that it EXACTLY coincides with the center face of the rotary C table. I would expect there to be a parameter setting in the machine controller that can be used to calibrate the position of the rotary assembly in the machine.

[edit]
I notice you use absolute encoders, does the signal come from the drive or the encoder itself?
Also by how much is the A axis tracking off ( just a little or way out)?

Ah, yes that is what I suspected. Since your '(x,y,z)-rot-point' values are all zero you are telling the kinematic that the the machine reference point is also the face center of your c axis table.
This is from the file xyzac-trt.txt as found in the folder 'configs/sim/axis/vismach/5axis/table-rotary-tilting':

Hal Input pins:
  xyzac-trt-kins.x-rot-point
  xyzac-trt-kins.y-rot-point
  xyzac-trt-kins.z-rot-point

X, Y and Z rot-point pins represent the
offsets of the center of rotation of the C axis
relative to the machine absolute zero

So in your case you would need to set 'xyzac-trt-kins-z-rot-point' to -215. Really I would suggest to put a dial indicator in the spindle and probe the face center of your rotary c and put the found absolute coordinates into the (x,y,z)-rot-point settings.

Hmm, that doesn't look right. Maybe try 'z-rot-point' value the other way around (ie 215 instead of -215).

[edit]
I just changed the 'xyzac-trt' sim config to a machine that homes 215mm above the center of the rotary c table and it seems to be working fine with these settings in the ini file:
So I'm not sure what's going on in your configuration.