$5k a year isn't realistic at all. You're going to to get a few percent a year if you're good and the company doesn't do a raise freeze like many are doing right now. If that happens, then you won't get anything.
You'll get the biggest increase in pay if you start going up the chain and bumping up in job titles. Often you don't even have to switch your role in the company to go to a higher job title that comes with higher pay. For example, when I went from Engineer I to Engineer II at my company I stayed in the same group doing the same work. However, I got a 12% raise. Going up in job titles is the fastest way to go up in pay. When you're starting out its expected that the people that are good can go up a title about every 2 years. The people that aren't good can take double that.
Find out if your company will bump you up a job title (and pay) without moving around. For example, can you go from Engineer I to Engineer II without applying for another job inside the company? In some they'll bump up your title (and your pay) if you're doing well and have put in enough time. In others you need to apply for internal positions that have the job title you're looking for to get bumped up.
One last thing, if you're so set on making a salary over $100k you probably should have done your research before you entered the field. It's a bit late to say that you don't like the compensation.