Build Quality

The Icom ID-52 feels bigger and has superior build quality. The FT5 has a rougher feel in comparison.

User Interface

Icom has a slicker, more intuitive UI. Yaesu's interface is clunkier and less polished.

Firmware Updates

Icom uses SD cards for firmware updates. Yaesu requires software — Windows only, no Linux or Mac support.

Programming

Both are easy to program. Yaesu's software is simpler whereas Icom's CS-52 is more complex. Neither manufacturer offers Linux software.

Digital Modes

Icom uses D-Star. Yaesu uses C4FM (System Fusion).

Conclusion

Your choice depends on your location (repeater coverage in your area), brand loyalty, and ideally trying both before you buy.