“Currently have a D5100. great camera except grainy in low dusk/dawn light; hard to focus on bird or plane in sky; even when on manual...I presume this is more of a lens issue, but is there reason to upgrade to D5300 or 5600?”
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When using the D5100 in low light, such as dusk, try to open up the aperture on your lens. A lens with a super fast aperture of 2.8 or faster will allow more light in to the sensor, so the images are crisp and clear, even at dusk or dawn. This may allow you to set ISO at a lower level, which could cut down on the noise you may be experiencing. All three of these Nikon DSLR cameras are similar but there are some noticeable differences. Another difference is the number of AF-Focus points you can get with each camera. The D5100 allows the user to have up to 11 points of focus and the Nikon D5300 allows you to use 39 points (3D tracking), which is similar to the same 39 points (3D tracking) that the D5600 offers. Both the D5300 and D5600 have 24.2 million effective megapixels while the Nikon D5100 has 16.2 million effective megapixels, which can also determine overall sharpness of a larger size image. For more information on the differences between these three cameras, or to learn more about how to reduce noise in your images, please contact Nikon Support.
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