My guess is that the 5th gear shift fork is loose or one of the bearings has gone bad. There is the possibility of a bad cable but since only one gear is affected it is doubtful. Have someone go through the gears while you watch underhood. If possible lift the front end and put jack stands under it. Since it is not under load it might not pop out but watch to see how much travel there is going into 5th. After you do that stop the engine, try to shift into 5th by working the linkage underhood. If there is an increase in travel the problem lies within the shifter and/or linkage. If not drain the trans and remove the 5th gear cover on the end of the trans. Inspect the shift fork for looseness. Depending on the style it has either a bolt or a roll pin securing it to the shaft. Either could be broken or loose. Also push up and down on the gear shafts. They should not be excessively loose. The should move very little up and down or back and forth. If they move quite a bit I suspect a bearing problem. If you do not see anything or if there is play stop there. Bring it to a trans professional.
You may not hear anything even with a bad bearing.
Do not forget to check all engine and trans mounts as well.
If you want to try to fix it yourself you will need several pullers and the manual. You can download the necessary pages at
www.techinfo.toyota.com. Loose external trans bolts would cause a leak, loose bellhousing bolts would not cause only a 5th gear problem.