Tl;dr: 5C is the best of the 5 series and Bauer is great
I think Bauer got a bad rap when he first started teaching, or maybe 5C is just really where he shines. His lectures were very engaging and he offers a Zoom option, which is nice. His tests were also fair. Take my performance in the class with a grain of salt, because I never did the homework and skipped like, a third of classes during the fires. And even then I still passed! He also offers extra credit for correcting your midterms, which is nice.
5C is also so much more fun than the rest of the 5 series. You get to take your own EKG for three separate labs, and the other labs are things like playing with Legos (circuits) and arts and crafts (using electrical conducting tape to make an electric field).
I had a great TA (shout out to Jack Isenhoff! or whatever his last name is), so discussions were very helpful and YOU SHOULD GO. Because the discussion worksheets are better practice than the HW.
My only gripe with this class is that Bauer uses the Pearson website to assign HW problems from the textbook, and he really could just take the problems from there and make them a Canvas assignment instead, bc the Pearson website is clunky and very unforgiving with rounding, unlike Canvas. Also, that way, we could've pirated the textbook instead of having to pay for it.

Dr. Bauer is the PB&J of professors. Not particularly interesting or inventive, but very reliable. You know what you are going to get when taking this course, and you know what to expect on tests. If you want some stability in your life, even though you won't be particularly blown away by any lecture, Bauer is a safe bet. Not an interesting one, mind you, but definitely a safe one.