For a custom iTween action like one you're looking for, you can make a variable and adjust your x,y,z (to rotate and move as you want).
Add the iTween from your Actions (Add, Move By, Move To etc) either should be ok aslong as you include that variable with the co-ordinates....from there use the Animation tab and record how exactly the object will move from point A to B for more control.
To get the object to appear to be rotating slowly however you'll have to extend your timeline to your specification.