My guess is it gets a season six. I hope so if only because I'd hate to see the story line with Steve's mom never get resolved (except in fanfic). I l like the character of Doris, but also have a lot of feels about what both her character and his father did that left him so compartmentalized and overly self-reliant. I'd love to see them play that out - and have his character arc really play out, too.
That said, the writing's been so all over the place that who knows if they'd even get that done right? I would hope so. And if there's an S6 I would also hope they'd pull out the stops and write some strong stuff. I was feeling good at the top of S5, but then the last few left me literally shaking my head.
What's your gut?