Here's a different take. A bit ad hoc, but to an extent I expect that here. Also I will be using several bits and pieces of finite field theory.
Claim 1. $p_1(x)=p(x)=x^5+x^2+1$ is irreducible.
Proof. $p(0)=p(1)=1$ so it has no linear factors. That leaves the sole quadratic irreducible $x^2+x+1$ as a possibility. But $x^3+1=(x^2+x+1)(x+1)$, so
$$
p(x)=x^2(x^3+1)+1\equiv1\pmod{x^2+x+1}.
$$
Thus $p(x)$ has no factors of degree $\le2$. QED
Corollary 1. $p_2(x)=p(x+1)=(x+1)^5+(x+1)^2+1=x^5+x^4+x^2+x+1$ is irreducible.
Proof. A linear substitution takes an irreducible to an irreducible. QED
Fun fact. If $q(x)$ is irreducible with non-zero constant term(over any field), then so is its reciprocal polynomial
$$\tilde{q}(x)=x^{\deg q}q(\frac1x).$$
Proof. If we had $\tilde{q}(x)=g(x)h(x)$, it is an easy exercise to see that we would also have $q(x)=\tilde{g}(x)\tilde{h}(x)$. QED
Therefore
$$
p_3(x):=\tilde{p_1}(x)=x^5+x^3+1
$$
and
$$
p_4(x):=\tilde{p_2}(x)=x^5+x^4+x^3+x+1
$$
are also irreducible.
Going back to linear substitutions we see that
$$
p_5(x):=p_3(x+1)=x^5+x^4+x^3+x^2+1
$$
is irreducible, and so is its reciprocal
$$
p_6(x):=\tilde{p_5}(x)=x^5+x^3+x^2+x+1
$$
which incidentally coincides with $p_4(x+1)$.
At this point we need another bit of theory. All these six polynomials have five zeros in the field $\Bbb{F}_{32}$, so between them they are minimal polynomials of all the thirty elements that are not in the prime field. Thus there are no others, and the list is complete.
I don't recall having done this exercise ever before, so thanks for letting me do it. I knew in advance that $p_1(x)$ is irreducible, because that occurs frequently enough.
I also knew that there would be exactly six irreducible quintics. I also knew that the substitutions $x\to 1/x$ and $x+1$ generate a group of six automorphisms of the rational function field. This time the stabilizer was trivial, so finding one irreducible produced all six.