Comment by tenfingers

There's also twisting (yes, it's a true 5 axis). But you have to buy the more expensive "art pen". See: https://www.wacom.com/en-us/store/pens/art-pen

Notably, some pens support additional pressure axes (for example, the "brush pen"). These are general-purpose sensors can be mapped freely.

I'm not aware though of any pen that supports truly 6 axes, but I suspect it's not a technical limitation.

[edit] I actually dislike the art pen because of the way it's handled: it's too fat.