G is the gravitational constant. 1G is normal Earth gravity. Jet pilots experience loss of consciousness after a few seconds of 5G unless they are wearing a G-suit.
So long-term exposure to 5G is definitely not good for you.
Now let's calculate the acceleration caused by a 5G phone signal. Most people will not experience more than 2 to 3 G for short periods, for example when jumping out of bed to answer the phone. Jet pilots should be wary though. If the phone is telling them to scramble their jet then they should wear a G-suit to ward off the effects of the 5G signal.
Another big danger from 5G signals is being exposed to them while driving. To prevent this you should use a hands-free setup, or better yet turn the phone off so it can't distract you while driving. Otherwise you risk suffering extreme unintended deceleration. the average G force experienced during a car crash is 50G, which is 5G x 10. At this level of exposure there is a 15% chance of permanent brain damage - on top of the brain damage the driver must have already had to phone or text while driving.