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It is best to install the agent as close to the target as possible. So, in your case it will be on Server 5.
Moreover, since you have only one target, then you have the advantage that you can install only one agent and it works.
Just keep in mind, that while installing the agent on the Server 5,
Server2, server3 and server4 should be visible to Server 5.
To explain more the above statement,
We have Filesystems FS1, FS2 on which the source files are located.
And the agent is located on ORADB1 which is the target Oracle DB. So, the filesystems FS1 and FS2 are visible to the system on which ORADB1 is installed and hence the agent on ORADB1 can also see the filesystems and hence access the files for processing.
Install ODI Server on Server5.
Start the agent using the command
agent "-name=agent_20300" "-v=5"
This command can be found in $ODI_HOME/oracledi/bin
Remember to update the odiparams.bat or odiparams.sh (depending upon what your OS is) with appropriate information for Master and Work Repository
Perhaps the following thread can guide you,
Re: ODI Agent
In Topology Manager -> Physical Architecture -> Add the agent information in the Topology Manager and run test
Now your agent is ready to be used