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Where are you staying?
5 people are allowed in Beach Club/Yacht Club, Polynesian, Contemporary, Grand Floridian, & Boardwalk. These rooms have 2 Queen beds and a day bed.
Port Orleans Riverside has 2 double beds and a trundle. A short adult might be OK on the trundle, but it is probably best to put a child there.
Disney charges extra for more than 2 adults per room (I want to say $15, but it might be $25).
The other resorts are built for 4 people. If the 5th person is a child under 3, there is no problem. You can request a crib.