Axial-symmetric vectoring exhaust nozzles (AVENs) enhance aero-platform maneuverability by dynamically modulating exhaust flow. However, the durability of their regulatory mechanisms remains a challenge because of their high temperature, heavy load, and complex multibody kinematics. It is crucial to conduct experiments to investigate AVENs-specific tribological behavior under extreme conditions. This study develops a novel tribometer to simulate the coupling kinematics of roller–cam, pin–hinge, and ball–socket joints, high-temperature operation (up to 800 °C), and heavy-load conditions (up to 30 kN). The setup features a dual-configuration fixture, a hybrid motion-loading module, and a multilayer heating and cooling system. The motion-loading module, comprising two electric cylinders, a hydraulic cylinder, and a rotary motor, enables precise replication of fixed and flexible kinematics under multiforce coupling. A dual-input, dual-output feedback system ensures accurate force and displacement control. Preliminary experiments validated the tribometer’s effectiveness and revealed dominant wear mechanisms, providing insights for AVEN durability improvements and tribological studies of complex aerospace mechanisms.