The first phase of a heavy quark program based on twisted mass valence quarks has been presented at last years's lattice conference. The CLS $N_f=2+1$ ensembles were used for their fine lattice spacing, while twisting the masses is expected to reduce discretisation errors even further and allow for a fully relativistic calculation. We present our strategy and preliminary results on three point functions, corresponding to $D\to K$ and $D\to\pi$ semileptonic decays. The form factors for $m_u=m_d=m_s$ quark masses obtained as a first step are shown here to be at the percent level in statistical precision at $q^2=0$.