Yes, positions 5 and 6 are positions that can bring teams to play in the UEFA League and UEFA Conference League. It will also be a tough competition between Fiorentina, Lazio, & Atalanta. In this case, I included AS Roma to managed to be in 4th position.
AS Roma should work very hard to achieve this. They are not stronger than Atalanta, Juventus or Napoli. Differences between them are very thin.
Of these 3 teams, Udinese must be consistent when they meet in Serie A, or have better match results than the three teams. It is not easy, so if they are lucky with their consistency until the half of this season, 5th position may be obtained.
With Udinese, having a position to go to Europa League or Conference League is already good for them. No one charges fee on their dream but they should be realistic even no matter hard they are working. I classify Lazio and Fiorentina together with Udinese for fighting of 5th and 6th positions. Atalanta belongs to top 4 race.