I know that V5 technically supports the gyro, and that some teams are able to use it.
However, it is worse with V5 than cortex, which is why I said there was limited support.
Nope actually. While this was true for cortex, this does not apply to V5.
Back on cortex, the gyro integrator was handled by the user code. If you wanted, you could code your own integrator (as pros did) because the user refresh rates on cortex were reasonable. This is why PROS and QCC2 was able to make their own integrator better than robotC.
However, things are different with V5. With V5, the integrator actually runs in vexOS on the cpu that handles the legacy ports. This integrator gets ~1ms refresh rate because it is run directly on the legacy port cpu. However, I have been told that integrator is pretty terrible.
Unfortenately, that integrator is not customizable or replaceable by the user. And it is impractical to try to provide your own integrator in your code, because in V5, the legacy port refresh rate available to the use is much less than cortex.
I might be wrong, but I think the V5 legacy refresh rates are ~10-20ms, which by many accounts is much too slow for integration.
There is nothing PROS or anyone else can do to improve the gyro integration, since it is VEXos that manages the gyro. The only way to improve that integration would be with a firmware upgrade from VEX, but I find it most likely they would rather release the new gyro than improve the old.
Maybe the VEXos integrator works fine, or people have managed use a custom integrator with that limited refresh rate, but it will be worse than cortex. For V5, my opinion is that encoders are much better for turning.