I can at least imagine such a configuration file format could be both simple enough for human and machine to reason about, and flexible enough to add value over (say) json. But the devil is in the details; and it's not always immediately obvious what's too complex.
In any case, json5 looks like what json should have been from day 1; several of the really critical improvements were common JS practice when json was invented.
I'm a little worried about the IdentifierName extension, since that's more than what javascript itself allows (no reserved keywords!).
But json5 is also an interoperability problem. The nice thing about a (good) standard is the that if it works someplace, it'll work anywhere. Add json5 into the mix, and that's not the case anymore.
Then again, there aren't a huge number of plausible successors to json, so maybe this is the best we can hope for. And it's trivial to down-convert to plain json, which means it's not too bad, I guess?
I wish json5 simply worked everywhere ;-).