These Joseph Audio speakers will do everything you’re looking for including throwing off an expansive 3D soundstage and disappear as a sound source, and you wouldn’t need a sub unless you want one as they go down to about 25Hz. The dealer allows for 30-day returns, and at $2799 they come in well under your $5k budget. Best of luck.
https://tmraudio.com/fresh-arrivals/joseph-audio-rm33si-limited-edition-floorstanding-speakers-pair/
Here’s a review that nicely captures its sound characteristics…
https://www.stereophile.com/floorloudspeakers/476/index.html