We spent 3 1/2 days in Yellowstone this past summer. Stayed in Fishing Bridge RV Park and toured from there. Since we arrived at Fishing Bridge around noon the first half day in the park we did the Mud Volcano area and drove through Hayden Valley. Perhaps drifted through Hayden Valley was more like it. Bison everywhere.
The next full day we drove the lower loop. We are not hikers so we did not walk all of the geyser basins, but hit the highlights.
The second day we did the upper loop timing our trip so we ended up at the Roosevelt Lodge area to go on the Chuck Wagon dinner.
The third day we drove through Lemar Valley on the search for animals.
With five days you would have time for some hikes and still hit many of the must sees in the park.
The details of where we went and what we did are in the blog link below "Arches, Geysers, and Canyons.
