Hello Jackgulino,
We faced the same issue a while ago.
I suppose you are running 8691SF's with 256MB RAM or 8692SF's, as they are the minimum requirement for 5.x.
The upgrade path we took was 3.5.x to 4.1.8.3 and then 5.1.1.1. As you perform the upgrade to 4.1.8.x. it will update some of the firmware in the processor, and then with the 5.1.x it will also ask you if you want to use the new file system format for the PCMCIA.
In our case, all went smooth, we had some minor downtime, but is was expected, as there are some changes to the IST and SMLT modes of operation.
As for support, 5.1.x will be out of "Manufacturer Support", acording to Avaya, from 31 Dec. 2011. They will keep service support (if you have a support contract) until 31 Dec 2016.
http://support.avaya.com/css/P8/documents/100133759The upgrade to 7.1 forces you to do a major upgrade to all I/O boards and CPU's... In our case, I think we could just keep the chassis