lol, I’ve slept through earthquakes, a 5.2 50 miles away can be nothing depending on other factors, and the 5.2 may be enough to help you stir your coffee, and when it really matters, my experience is animals do sense danger.
To be more fair, I was wide-awake, having been up since 0500, and I wasn’t quite sure if there had been an earthquake. You are right about other factors affecting how you feel a ‘quake. Other factors include depth, type of soil, bodies of water, etc.