I don't know if I can help because I don't know how Hurco works. But on my Haas, I was able to do this with various G92 A commands in mid program. I planned out the stop points for the A axis to fall exactly on A0 so that I could keep track of where it was going to be.
Haas also has quick rotary G28 which I use at the end of the program, but that is perhaps a little bit cumbersome to use in mid program.
First you get good, then you get fast. Then grouchiness sets in.
(Note: The opinions expressed in this post are my own and are not necessarily those of CNCzone and its management)