If your output is 0 to 5V and you desire -5 to +5V then the transfer function is
H(s) = 2 * s - 5
Per @alanza’s post below, the ADE-60 could achieve this using two channels with correct jumper settings (bias on channel 1, gain on channel 2). Combine this with a Pressure Points and you should be good to go. If you require the allflesh pads that consider the Sptunik 5-Step Voltage Source instead of Pressure Points.
At this point you should really consider doing some actual experimentation, either in real hardware or VCV rack. Your understanding of your problem is a bigger limitation now than any hardware limitations.