Yes. You can view the rooms on the DCL website, I picked a random date and found HA 5-person rooms on both the Dream class and Magic class.
Edit: Here is a document listing accessible room features on the Magic-class and how many they sleep.
I am a family of 5 and in planning phase so I printed the color coded deck plans and marked all the rooms that can accommodate 5 according to a list I found here. I only did decks 6-10 so Ill give you what I have that I can see are HA for 5. they 4 I found are 4B's with verandahs. Im sure there's more. I know when you go to search rooms it will only list the rooms that can handle 5.