Your gonna need to be a little more specific here...
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The tables holding this data are not simple
No idea what this means. All db tables are simple. They're just rows and columns. Can't get much simplier.
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does hibernate force us to create objects that represent each table in our database
Of course not! Now, obviously, if you want Hibernate to manage a particular table or association your gonna have to tell Hibernate about it somehow.
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This really is a question of whether hibernate is a good choice for this type of database
Well, as you really haven't described anything pertinent about the schema, that would be a difficult question to answer.