Most robots in VRC use 6 motor tank drive. Strafing usually isn’t too common amongst the higher level teams, and from what I see, they use 6 motor asterisk drives if they want strafing abilities (though 6m tank drives make up the overwhelming majority of them)
So no, 5 motors is not usually good, unless you’re running 100rpm direct to your wheels (you’ll be pitifully slow, but have quite a bit of pushing power), and I would personally recommend a 6 motor asterisk drive, or even better a 6 motor tank drive. See this post for gearings and speed:
(Drives geared for torque are usually under 58 in/sec, while drives geared for speed are usually above 63 in/sec)
(Asterisk drives technically have just under 6 motors worth of pushing power forwards and just under 4 motors worth of power pusing sideways, which is a lot better than 4 motors pushing forwards and 1 pushing sideways)