Usually if there is a new version to the Thermomix Firmware, you will receive a pop-up notification on the TM5 display. If you postponed the installation for later-on, or just wanted to check if there is a new version of the firmware for both devices, consider going to Menu -> Help -> About the Thermomix® -> and click on the button, check for updates.
If there is a new update for your device, you will be able to find it there.
Please keep in mind that the firmware updates are distributed in batches so, some devices may receive the last Updates later on.