My 2016 F-53 chassis with a 6 speed transmission shifts at a lower RPM than my 2005 5 speed transmission. My 5 speed would rev up to 5300 RPMs before it shifted. My 6 speed shifts at 4300 RPMs.
I believe, but don't know for a fact,that changing to a 6 speed transmission and the lowering of RPMs and the change in the way horsepower is measured was done to meet EPA requirements.
The result is a quieter ride. With the extra gear I don't feel like I've lost any horsepower.
If I had to choose between a 5 speed or 6 speed F-53 chassis I would pick the 6 speed.