We establish two results concerning a class of geometric rough paths $\mathbf{X}$ which arise as Markov processes associated to uniformly subelliptic Dirichlet forms. The first is a support theorem for $\mathbf{X}$ in $α$-Hölder rough path topology for all $α\in (0,1/2)$, which answers in the positive a conjecture of Friz-Victoir (2010). The second is a Hörmander-type theorem for the existence of a density of a rough differential equation driven by $\mathbf{X}$, the proof of which is based on analysis of (non-symmetric) Dirichlet forms on manifolds.