Metal wire deposition is a promising additive technology to produce low-cost near shape blanks for large and complex parts. Combined with robotic arms, multi-axis deposition presents new opportunities and challenges regarding deposition path planning and tool axis determination, especially to avoid support material use. In this work, an automated algorithm that calculates the deposition path, the tool orientations and the local inter-layer distances is presented. Then, an adaptive travel speed strategy is applied to adjust the bead morphology to the local layer height. Finally, two multi-axis deposition strategies are compared numerically and experimentally for manufacturing cantilever thinwall tube geometries.