So first interim report:
Note: I am a bit more comfortable around the "tablet" WiiU controller because I use to play Virtual console games without using the TV. That doesn't go without saying, consdering how much hustle it is for others (evidenced by the fact that when we play Smash Brothers or Hyrule Warriors in couch coop not one of my friends wants to let go of the pro-controller
The controls of Star Fox Zero are certainly different. The first thing I had to figure out was a position to sit/lie/stand while playing with the motion controls and then figure out how to make them work best for me. If you have a comfortable chain in which you can put your feet up without constraining your upper body mobility works good for me (my usual half-sit, half-lie on my couch did not work at all).
The next thing is that the whole thing is visually very overwhelming with the two screens. While they show mostly the same it is hard not to constantly switch between them or switch around which one is on the TV at the moment. It's not at all helped by the tutorial which out of game wants to prepare you for the pace on screen but undercuts helping you into the controls.
So it is not exactly a game you can play for houres on end just because of the load of information you process each session ... which than conspires with the "needs getting used to" controls, so you don't really ease into them...