I’ve noticed that certain prop shadows have very razor-jagged shadows. I have virtual shadows on and all other new settings with 5.1 and have zero clue what’s causing this and I feel it really takes you out of the experience.
It can be caused by a variety of reasons. First and foremost make sure you are running the project in the highest possible quality. Check light sources and make sure they are running correct settings which doesn’t affect shadows in such a way seen in your image. If you are building lights, I suggest looking closer at a tutorial and make sure resolution of shadow maps are set high.
Settings are on high, GI is using lumen, and the light source doesn’t appear to be affecting the shadows quality.
Not sure what lighting you’re using here, but I found that in my current UE5.1 setup, spotlights cause these artifacts when the ‘outer cone angle’ is over 75 degrees.
Hope it helps 
If you have jagged shadows with Static lighting and your lightmap density is fine (Green in optimization viewmodes), then make sure your light sources don’t have 0 of source radius. If they have a slight radius they will look much much better.