I've tried 3 methods for bottling from kegs: (1) counter-pressure filler (too complicated), (2) pressurized "burping" method (doesn't work well), and (3) bottling from tap (works but higher risk of contamination). I've found that each method still requires you to keep the bottles COLD. So I keep the bottles in a pitcher of ice water, meaning that bottling 5 gal would be a huge pain. No thanks.
It's really not that much of a big deal. Firstly you don't have to bottle the whole thing at once. You can bottle 6 at a time or whatever. Plus every pint you take from the tap is one less bottle to deal with.
You can stick the bottles in the freezer and they get cold quick. I put 8 bottles in the freezer while I setup, then take 4 out and fill them and the next 4 bottles goes into the freezer. Each bottle gets 10 mins or so in the freezer which is plenty. So it's not like you have to chill the whole batch of bottles in one hit.
I find it does take maybe 1.5x - 2x as long compared with regular bottling if you try to do the whole keg at once. But there are other advantages that make up for that, and not having sludge in bright lagers is a big one for me.