I have an old Bernina 830 from the 1960's and did free motion on that. But now I have a Bernina 440 Quilters ed. When I got it new, the store gave free lessons on how to use it. They still offer classes for free every month if you buy the machine from them. I just took a FM class from the store last Thurs on using the BSR. So, If you get a new machine, I think they could get you started. I also use that pink plastic slider that you put on top of the sewing bed that helps the quilt slip around easily. I'm not good yet at FM, but I am getting better with practice. Good luck.
Verna in So Cal