Here's mine:
=IF(LEN(A2)>5,A2,A2&"-"&SUMPRODUCT(--(LEFT($A$2:$A2,5)=LEFT(A2,5))))
A2:A7
92127
96001-1
94533-1
95630
95677
95630
B2:B7 (where you put the formula)
92127-1
96001-1
94533-1
95630-1
95677-1
95630-2
Edit: The above assumes that first instance of the five digit leading number will have no -n and uses the count of that five digit leading number to append the -n to subsequent instances. However, if the first instance of, say, 95630, is 95630-2 then the above fails. String manipulation does not work well with array formulas, so I think the only option is to use helper columns. With your data in A2:A7,
B2: =IF(ISERR(FIND("-",A2)),A2,LEFT(A2,5))
C2: =IF(ISERR(FIND("-",A2)),0,MID(A2,FIND("-",A2)+1,LEN(A2)))
D2: =B2&"-"&IF(ISERR(FIND("-",A2)),MAX(($B$2:$B$7=B2)*($C$2:$C$7))+1,C2)
and fill down to row 7. B2 and C2 split the number into the five leading digits and the -n suffix, if any. If there is no -n, it returns a 0. D2 is entered with Control+Shift+Enter because it's an array formula. It finds the maximum -n for the current five leading digits, adds one, and appends it to the five leading digits.
Helper columns make it more cumbersome, but I couldn't find a better way.