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Not at all possible whatsoever though. If he has two drives nearly full, he would never be able to fit all replicable data on a RAID 5 of any kind.
What you're describing as a solution is the "3 jugs of water" problem. The difference is you need only one coherent set of data in order to even start a RAID array. Juggling between disks in this case would never make the solution OP is asking if all data can't fit on one single drive, due to the limitations of smallest drive capacity. You can't just swap things around and eventually come up with a viable array if ALL data can't be in one place at one time.
They’re going for RAID5, not 6, so with the third drive these’s no additional requirement.
Say for example if they have 2x 12T drive with 10T used each (they mentioned they’ve got 20T of data currently). They can acquire a 3rd 12T drive, create a RAID5 volume with 3x 1TB, thereby giving them 2TB of space on the RAID volume. They can then copy 2TB of data into the RAID volume, 1TB from each of the existing, verify the copy worked as intended, delete from outside, shrink FS outside on each of the drives by 1TB, add the newly available 1TB into the RAID, rebuild the array, and rinse and repeat.
At the very end, there’d be no data left outside and the RAID volume can be expanded to the full capacity available… assuming the older drives don’t fail during this high stress maneuver.
RAID 5 is a minimum of 3 drives...I'm not sure what you mean.