I don't know if the one I have would fold up far enough for a 5ver, I have an Extang Solid Fold. High quality, easy to fully remove, and you can stand on it. I love mine. But I think the Bakflip may work better for your needs because it folds in 4 sections (not 3 like mine) and can fold up against the rear window of the cab, whereas mine has to be removed for full bed access.
2013 Jayco Jayfeather X20 E, 2008 GMC Sierra 1500 Crew Cab Z71 SLE