Can a DE-5000 measure a 1-2uF cap with 0.004 ohms ESR at 10kHz for example?
The DE-5000 datasheet specifies an ESR accuracy of 0.3% of |Z|. For a 1 µF capacitor at 10 kHz, that would be 0.3% of ~16 Ω, or
±48 mΩ. Sure, the specified accuracy is Maximum Permissible Error (MPE), and it is usually quite conservative, so actual accuracy is probably better (but not guaranteed).
For decent ESR meters, the basic accuracy for angle measurements seems to be somewhere in the region around 0.03°. This translates to an ESR accuracy of ~0.03*π/180*|Z|, or ~0.05% of |Z|. Depending on the operating conditions, additional uncertainties are added on top of the basic accuracy. For a 1 µF capacitor at 10 kHz, 0.05% of ~16 Ω would be ±8 mΩ.