In short....yes. It's called a computer programmer. Most can be had under $500 that can adjust and/or remove various electronic nannies. I'm sure there's a company out there somewhere that makes one for your application.
That being said, 5,000 RPM is kind of odd. Most Ford cars from that era have two different rev limiters. The "Park" limiter is usually about 4,100 or so RPM. The car will not rev higher than that while stationary. I feel like this is not what you're referring to though. More likely, you're referring to the limiter that governs the upshifts etc. Your engine can easily exceed 5,000 RPM even if it is the basic Vulcan V6. It may not be good for it, but that engine will rev to about 6,000.
Since you say you have an SES(upper trim level on this Taurus), it's much more likely you have the performance engine, the 3.0 Duratec 24V V6. This engine is much happier at higher RPMs and will run at 5,500 all day if maintained right. So, if your engine is healthy, and you take care of it, just search for a :power programmer" for your car. Think HyperTech, SCT, Edge, Jet, etc. Google search it.