Yes the majority of bugs are fixed now, and when all's said and done is there ever any totally bug free software? Be sure to download the latest patch from www.curiouslabs.com

Poser 5 will handle your cloth movement perfectly. You will need to read the instructions. To point you in the right direction you will need to use the Cloth Room. The collision detection you are referring to is object to object and not cloth motion. Start by creating the animation. Imagine holding just one corner of the cloth and animate that ignoring what the rest of the material is doing initially. (It will be as stiff as a board because its not simulated yet.) Now go to the cloth room, fill in the details for a new simulation. Clothify the cloth and set it to collide against your figure (and the ground if required). Now in the cloth regions set the corner that you were pulling to be in the choreographed group. And finally calculate the simulation.

Give it a go. Let us know how you get on. Good luck :)