I'm probably in similar marathon shape- PR was 2:55 in 2018, but I felt I was ready to drop below 2:50 before my race got cancelled in May. Similar mileage, also mid 30's, 6'4" / 175- maybe a little thinner accounting for height, but same ballpark. 5K is only ~17:30, these days, so you've got the edge in speed.
The one thing that helped me that I've become a big fan of is long runs with marathon pace work thrown in, and now I recommend them to everybody. If you're not already doing this, you could try alternating a 20-22 mile long run one week with 18 miles the next, where 12 of those are at 6:25 or so. This worked when I hit my PR, and it's why I'm confident I was in 2:49 or faster shape this spring.
Based off of your 5K and mile times, you should have potential for improvement. I'm assuming you've already ruled out other obvious things- your marathon wasn't some ugly 1:20/1:34 split, you had enough fuel and water, etc.