You can indeed change the esteps/mm but it changes it for both extruders.
Also you should never have to adjust those. You can test the extruder (extrude exactly 50mm and then measure how far the filament moves) but esteps shouldn't need adjusting.
It looks fine. The bottom layer is underextruded but maybe leveling had a bit of something on the tip of the nozzle and levelled slightly high and that should only affect the bottom layer.
Also the top of those bridges are underextruded but that's not too surprising for above bridges. What about a "normal" print. Are normal prints also underextruded? There are many possible causes but I want to see that it's underextruding something other than these special cases (just above bridging and bottom layer).
There is no way to edit the E-Step values on the Ultimaker s5, they are hard-coded.
Have you tried re-seating your Bowden tubes, and alternatively have you tried printing hotter? What filament are you using?
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