In this paper, an investigation of a novel positive displacement axial piston machine using a bent cylinder sleeve configuration is presented. The proposed design eliminates the side moments on the piston/cylinder interface, therefore, reduces the frictional loss and improves the total energy efficiency. A multi-physics elastohydrodynamic lubrication model was used to aid the design of the piston/cylinder and the cylinder block/port block interface. Then, a lumped parameter model was used to optimize the port block geometry. Groove geometry was chosen primarily to reduce flow ripple, tilting moment, and cavitation risk. To improve the housing stiffness, the lumped parameter model was combined with a finite element analysis. This ensured safety for the testing. In the end, steady-state experiments were performed on the prototype based on the ISO4409 normative. The unit’s speed was set to 500 rpm, then increased by 500 rpm until it reached 3000 rpm. The supply pressure was set to 20 bar. The outlet pressure was set to 70 bar at first, then increased by 50 bar until it reached 220 bar. The results show a remarkable volumetric efficiency with a peak of 99.5%. It is however noted that due to some of the issues with the initial iteration of the current design, there is a reduction in mechanical efficiency. The causes and possible future solutions to these issues are discussed in the manuscript.