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You are correct! Most sewing machines without an extension table are shorter than 10" deep so the 5" one would work the best for your sewing machine if you do not have an extension table.
The 5" Ideal Seam Guide is a great guide for aligning your fabric pieces in front of and right next to your needle and presser foot so you don't really need the Seam Guide to extend beyond the needle.
The longer 10 and 15" Seam Guides are helpful on sewing machines with an extension table and for piecing long strips of fabric together.
Hope this helps!
~ Rita