$5K sounds like an awful lot at first thought but when you start piecing together it soon adds up.
You can get a pretty good system for $5K in component cost that might come close to what you are looking for.You might have to spring some extra for fabrication & install depending on your final selection of components. I have not taken into consideration any video or "toys" as your main focus seems to be on the audio quality. You could also spend a whole lot more, but I think that with that budget you would be reasonably satisfied. Don't compromise on the speakers which will give you the best return.
My (completely biased!) recommendations are similar to what I have but saving a little on the HU (non-DVD/LCD) and the main component amp - you can of course substitute your own personal choices with features that are important to you, this is for budget illustration only.
$1000 - 4-Ch amp - Tru Technology T03-4.150
$ 500 - Sub amp - Tru Technology T2-100
$ 450 - Sub - Phase Linear Aliante 10"
$ 550 - Sub Box - Custom
$ 850 - Speakers - SEAS Lotus Reference
$ 500 - Head Unit (CD/MP3 - not with LCD) - Alpine CDA-9835
$ 300 - Changer (Optional) - CHA-S634
$ 600 - Processor (Optional) - PXA-H700
$ 250 - cables/ connectors
Install/fabrication?? Skys the limit!
You can do without the changer, which is easy to add later if you need it and also the Processor - the HU has pretty good on-board processing features for starters. The processor is harder to add later without refabricating your dash however. You could save one (sub) amp by running 2 of the 4 channel into the doors & the other two into the sub; however you can't utilize the time alignment on your mids/tweets separately & that gives you HUGE imaging benefits.
So without changer & processor you are at $4100 plus fabrication, & you should be able to get a very decent job for ~ $900 including a custom console & trunk install - not a show winner, but an attractive competent functional job.
So yes, quite do-able at $5K for a system I think you would enjoy. Now you could easily spend only half that & still have something pretty good so I'm not trying to tell anyone you HAVE to spend that to get a decent system - based onhow you described your criteria I have upped the ante. You could also easily spend a lot more, too!
http://www.seaslotus.com/referencecomponents.asp
http://www.alpine-usa.com
http://www.phase-linear.de/produkte.asp?p=subwoofer&grp=6&view=landing&lang=EN
http://www.trutechnology.com