There is a test remote made by the Unified Intent devs, called Air Mouse/Air Mouse 2. You can find it on their Git here:
It is jittery for me, though, as the orientation only gets updates 6 times a second in Unified Remote for me. My phone's hardware has an sampling rate of 100.16 orientation updates a second, but for some reason it's limited to ~6 in Unified Remote. I assume the devs did not release it as a core remote as it still needed testing.