There is a direct upgrade path to ACS 5.8 from the 5.5/5.6/5.7 releases
However, when going from 5.4 will need to do in two steps
1) ACS 5.4 -> ACS 5.5
2) ACS 5.5 -> ACS 5.8
Although in two steps do strongly recommended completing this upgrade. ACS 5.8 is the recommended release for ACS longer term