I always liked this map that helped convey the possible pathways that spread humans from the main wave: https://en.wikipedia.org/wiki/File:World_map_of_prehistoric_...

The number of waves and the granulation of waves isn't set in stone as such; there's a pretty decent broad view from afar regarding early human, and a great deal of finer detail still up for debate.

Reading through

https://en.wikipedia.org/wiki/Early_human_migrations

top to bottom will give a good enough first overview and an idea of where uncertainly lies and references to chase for further debate.

Eg: Currently there's some hot debate on whether parts of the "coastal migration" to Australasia took place over inland routes within South East Asia - that's a matter of old coast lines at the time, inland cave shelters with datable bones, and a sparse game of chronological joind the estimated dots in space and time - it gets technical.

Who We Are and How We Got Here by David Reich is I think a great book if you're interested in human migrations.

> Where can I learn more about these 5 waves?

You simply go back 2 million years and verify it yourself.

Alternatively, read it on wikipedia.