IF, you could get all of the old oil out then yes you would put a new filter back on and fill it with 5.5 quarts.
I typically have an open bottle than can be used to "top off". I do as Tad does and then after a day or so, I'll check it after it's sat over night. If it's a bit low I'll top off.
The short answer is to fill it until it is full. I usually like it near the top end of the ADD and FULL lines on the dipstick. At the FULL line is fine, and I won't add oil unless it's below the half-way point between those two lines. So I could be up to 1/2 quart below "FULL." I don't burn enough oil in either vehicle to notice, so keeping it at exactly FULL isn't a priority.
I've never put it exceed the full line, For a little less is better than exceed. Why, because when you put it more than FULL (a way more) that will make the oil try to get the way out(LEAKING).
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