We use the 5-step setup for every rep, but for every rep after the first one, steps 1 and 2 are already completed. They’re already completed because you’re going to set the bar down right over the middle of your foot (“stance”), and you’re not going to let go of the bar (“grip”). If you set the bar down a little out of position, that’s not a problem - simply roll the bar to the correct spot over the middle of your foot. Keep your shins OFF the bar while doing this, make sure that you are balancing on your midfoot (not the balls of your feet), and don’t push down on the bar (if anything, keep a little upward tension on the bar).