Migrating from PIC32MX to ATSAM MCU - SWD interface doubt
Yes you're right, since the SAM E5 family is ARM Cortex based, the 5 signals you mention are the one you need to program a target device in "Serial Wire" mode:


  VCC, GND, RESETn, SWCLK, SWDIO


That's what I have on several designs and it works well (AT SAM and STM32).

But if you want extended debugging features you need to add some more signals. The many documentations about ARM Cortex programming interfaces might help you:


CoreSight 10, from the ARM Developers website
Cortex Debug 10 pin interface, from the ARM Keil documentation


Extract from the ARM Keil documentation:

Signal  | Connects to...
------------------------
SWDIO   | Data I/O pin. Use 100K Ohm pull-up resistor to VCC.
SWO     | **Optional** trace output pin.
SWCLK   | Clock pin. Use 100K Ohm pull-down resistor to GND.
VCC     | Positive Supply Voltage — Power supply for JTAG interface drivers.
GND     | Digital ground.
nRESET  | nRESET pin — Connect this pin to the (active low) reset input of the target CPU. Use 100K Ohm pull-up resistor to VCC. This is an open-collector/open-drain output.