I gave my Fives to an offspring before embracing Roon. However my other Sonos speakers work fine with Roon, including an Era100 pair. I see no reason why a Five pair wouldn’t be the same.
Roon would see the pair as a single endpoint, at the IP address of the left hand (master) speaker. Sonos would deal with forwarding the correct channel over to the right hand unit.
If this would be your first Roon-Sonos marriage then I’d refer you to some comments I made on a recent thread about their interaction.
Note that if you use the lossless ‘Sonos streaming’ protocol Roon will only be able to group with other Sonos rooms, not with RAAT endpoints.