I can imagine how frustrating this situation must be for you. You are clearly a loving mom and you're trying everything and she is getting more stubborn instead of more compliant.
The first thing you need to change in this scenario is that cleaning up is being treated here as something that isn't fun, that is not a desirable activity but a "have to get it done to get to something fun" activity.
5 year olds do not want to delay fun. So she'll sit there and cry for a long time instead of doing something that's not fun. Because she's not logical. She's 5.
Your next step is to make it a fun activity. Not quite a game but something you don't consider awful. The best way is to do it with her. If it's not a bother, it would be something YOU want to do. So show her it is. Get down there and do it with her and keep repeating afterwards, "Doesn't that feel good to have the room look so nice?" Then give her a hug and be real happy. When you enjoy cleaning, she'll have a reason to also.
A great book for the long run: I want to recommend that you read a wonderful classic, How To Talk So Kids Will Listen & Listen So Kids Will Talk. It is from the 1980s by two therapists who studied with psychologist Haim Ginott. You can still find his wonderful books. If you want to go for the original, Ginott's book, Between Parent and Child, is still relevant and readable after all these decades.
Okay, I wish you the very best!
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