5 feet of soil is way more than you need for almost any species of tree. 2 feet is usually
enough.
Oaks have the capacity to go through limestone bedrock by exuding a chemical compound through their roots that softens the stone and allows their roots to penetrate. There are fissures and cracks throughout most bedrock. Roots will find their way through those cracks, further splintering them and finding moisture as needed. When it rains, all that
water is percolating through somewhere. The tree roots will simply follow the natural flow of your hydrology. And fungi has been shown to decompose rock in order to mine the minerals therein. As the soil beneath your trees becomes increasingly fungal dominated and colonized by symbiotic root-associated fungi, the rock below will not be a negative thing, but a positive thing for your trees.
Fruit trees rarely
root much deeper than 2 or 3 feet. Just dig around lightly along the drip line of an
apple, peach, plum, apricot . . . and you will see the thick feeder roots that are only 6 to 12 inches below grade. Their tap root doesn't go that much deeper -- maybe 3 feet or so. This is because most of the soil life and nutrients that the trees depend upon are in those upper 2 feet. That's where the worms, bacteria, fungi, and other biota live.
So plant away and celebrate the 5 feet of amazing soil you have. It will only get better as your food forest matures.
Best of luck.