There are quite a few Milano recercars arranged for guitar on the Musescore.com site, but not no.5 unfortunately. You can find a modern lute transcription (plus MIDI that would allow you to make your own arrangement without too much difficulty) on the gerbode.net site - it's listed as Milano 005.
Eric from GuitarLoot
Renaissance and Baroque freak; classical guitars by Paul Fischer (1995) and Lester Backshall (2008)
Yamaha SLG 130NW silent classical guitar (2014), Ramirez Guitarra del Tiempo (2017)