Are there self-realized, spiritual teachers on the 5D planets

According to Eastern philosophy, the ultimate goal of people is self-realization, enlightenment, where the ego disappears and the mind merges with infinite eternity, eternal happiness.

If an individual is born already self-aware, then such spiritual masters are called avatars, such as Krishna, Jesus, Sanat Kumara and many others. Consciousness is then one with the light of God, the creator, the source already at birth.

I have come to understand that the inhabitants of the 5D planet are still single-minded individuals with egos, they are on their way to the final goal. But do they also have spiritual masters, avatars like we have to teach the eternal truth, how to get self-realization, eternal bliss?