Per the CRB:
Take 5-Foot Step
You can move 5 feet in any round when you don’t perform any other kind of movement. Taking this 5-foot step never provokes an attack of opportunity. You can’t take more than one 5-foot step in a round, and you can’t take a 5-foot step in the same round that you move any distance.
You can take a 5-foot step before, during, or after your other actions in the round.
You can only take a 5-foot-step if your movement isn’t hampered by difficult terrain or darkness. Any creature with a speed of 5 feet or less can’t take a 5-foot step, since moving even 5 feet requires a move action for such a slow creature.
You may not take a 5-foot step using a form of movement for which you do not have a listed speed.
This should allow you to do things like make a full attack and kill an opponent with the first attack and then 5-foot step to complete the rest of your attacks on another foe. Another example is to cast a touch spell outside of a threatened range and then 5-foot step to deliver the free attack action granted by the spell. I believe that you can technically take a 5-foot step during a Cleave or Great Cleave but cannot attack a target which did not meet the adjacent requirement of the feat.
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