Typically, when two batteries are in series, they drift apart as they age. One battery will become undercharged while the other (weaker) one will become overcharged and eventually dry out. Lithium ion batteries typically monitor this and prevent it from happening since Lithium batteries can fail in very nasty ways. Large lead acid systems are monitored to prevent this and extend the life of the entire string, but it's rarely done with small ones.
5 years is a good run for a pair of UPS batteries. There's really no point in trying to make any measurements on them. Replace them both. If you only replace the dead one, the other one will probably fail within a few months. Before it fails, it could start to degrade the new one. Replace them with two new batteries that have similar specs, size, and terminal arrangement as the original ones.
Ed