I've ridden Steps 5000, and it's a lightweight and low-profile system that feels smooth and consistent so there's a lot to like about it. If you're mostly riding on flat ground, you'll probably like it. If you do a lot of hills, you might not find the 40Nm of torque to be sufficient. Going from STePS 5000 to STePS 6100 is a 50% increase in torque, but on a hill it will feel like an even bigger difference. You need a certain amount of torque to defy gravity, and the amount the torque exceeds that by is what you're perceiving. So let's say you need 30 Nm of torque to defy gravity on a steep hill, going from 40 to 60 Nm there might feel like you're tripling your power (one has 10 Nm of torque above the minimum amount required, the other has 30 Nm in excess of the minimum required to get up that hill).
Shimano's now slotting their motors into their traditional numbering system. So STePS 8000 is XT-grade, STePS 7000 is SLX-grade, STePS 6100 is Deore-grade, making STePS 5000 either what Shimano calls "non-series", or low-end Deore. Alivio is 4000-series, so if they do a STePS 4000 then it'll be an Alivio grade by Shimano's new numbering convention.