With my semi-autos 9mm handguns I kinda have to disagree with the 5 yard sight in. The reason being is you never know how things can unfold and should not assume the action will always be within 5 yards.
In my explanation I have a 1" sight height, I'm guessing your mp5 is higher than that. At a 5 yd sight in I would already be 3" high if the conflict spread out to 25 yds. With your higher sight height that offset would be much greater than the 3" at 25 yds.
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At a 20 yd sight in I have a much flatter trajectory on my pistols. I am within zero to 1" low out past 50 yards. To me this leaves me with almost no thought about my offsets compared to the 5 yd sight in. Just shoot 1/2" high all the time and I'm good through 50 yds.
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But then again, an mp5 at 800 rounds per minute fire rate probably ends the conflict before it spreads.
It's just what works for me.