The APA style manual website says:
[A]rticles with one or two authors include all names in every in-text citation; articles with three, four, or five authors include all names in the first in-text citation but are abbreviated to the first author name plus et al. upon subsequent citations; and articles with six or more authors are abbreviated to the first author name plus et al. for all in-text citations.
Is there a way to
manually cite all authors in a citation of a paper with 5 authors, using \cite{...}
have the above-described rule automatically performed by latex, so that I don't have to do it manually?

apaciteorbiblatex-apa. They both handle this automatically. See How can I implement a comprehensive apa-style citation and bibliography for examples of both methods. – Alan Munn Apr 27 '19 at 13:21