2cm is just enough, it is a question of the bumper that is attached to the front of the robot, higher than this bumper height is not possible. Too high is not good either, because otherwise it will fall all over the place. Another thing you could do is lay a construction over the thresholds that has a small ramp on both sides, connected and not permanent, when you let it go then lay out these ramp constructions everywhere, collect them again after vacuuming.

By the way, the Roborock S6 MaxV doesn't cost much more, but it would also have 3D object recognition and that would help to recognise and avoid cables and other things.

Roborock S6 MaxV

The wiping possibilities are the same as with the S5 Max, but the S6 MaxV is just a whole class better because it can also recognise objects.