Yes, you can create a counter and change the iteration when the counter reaches 5 (or 4 for zero-indexed number):
// Begin Experiment
counter = 0;
// Begin routine
if (counter === 4) {
slider.labels = ["True", "False"];
counter = 0; // reset slider counter
} else {
slider.labels = ["agree", "disagree"];
}
counter = counter + 1;
slider._needVertexUpdate = true;
slider._buildSlider();