No matter how large a cistern you put in, you only have as much water as the well will produce. 5 GPM is not bad. That is actually 7,200 gallons per day. You can store 3,000 gallons in a cistern so you can use it all in 100 minutes at 30 GPM. Or you can use 5 GPM for 10 hours, and do the same amount of irrigation.
Either way a Cycle Stop Valve will help you out. The CSV will deliver exactly 5 GPM from the well at a constant pressure so you can water directly from the well.
Or you can use a CSV on the booster pump, so it will vary the flow to match varied irrigation zones, so you can be through in a couple of hours.