It look liked the image is soft due to handshake upon close inspection. There is plenty of depth of field in that picture at f5.6 to get the crane in sharp focus. And, close down to f8 would yield better sharpness due to less lens aberration.
Rule of thumb for except able keepers rate shutter speed must be 1/lens focal length (X1.5 Nikon APSC).
ie.
55mm would be, 1/55*1.5 = 1/82.5s or 1/100s
200mm would be 1/300s
And often, it is suggested to get 100% keeper rate shutter speed should be increase by 1 stop, hence 55mm would be 1/200s, and 200mm would be 1/600s. And, shutter speed must be at least at 1/500s if the subject is moving such as walking, 1/800s-1/1000s for running, and at least 1/1000s if you are moving while taking picture of stationary subject.