Minimum on the ESA cluster with RAID5 is 3 hosts. So if you will have 5 hosts at the start, 1 host place into maintenance and 1 other will fail, all the VMs can be compliant because of used schema 2+1. If you will have enough resources to satisfy. Not only from the Storage policy point of view, but space.
RAID 5 on ESA cluster is adaptive and automaticaly switching between 2+1 schema and 4+1. As you mentioned previously after 24h when you add 6th host. The Policy switching is something different, but happens when you add 7th host and it will be able to satisfy RAID6.