HI
from general point of view - yes, you will need a level shifter for driving 5 V inputs,
however according to the datasheet of the driver - the min input high of the driver is defined as 2.5V , this will allow you to connect them together without level shifting :smileyhappy:
by the way, 5V tolerant means you can feed the pin with 5V level, however output will be allways up to power rail only
Pavel