I'm not sure on the exact question, so let me know if I'm wrong.
ISE 1-5 are all standalone? You would need a device admin license on each for TACACS.
From the switch side, I think you could put all 5 ISEs in a group for TACACS if you wanted, it doesn't matter, but they tend to use just 1 unless it is down. I don't believe there is a way to specify what server a switch will preferer. The big thing will be to just duplicate the devices on both ISEs and have the rules on each.