To me, W5000 and W2002 are similar but yet different in certain aspects, I feel W5000 is more of a matured version of W1000. It's almost like AT set out to produce a headphone, and W1000 being the prototype and the W5000 being the complete package.
W2002 has more warmth, and more fuzz than the W5000's more resolute signature and more even sounding across the frequency spectrum. W2002 seems to be a bit edgy sounding with more emphasis towards the higher frequency range. This to a degree gets 'equalised' with the HA2002 amp, but it doesn't make a night and day difference.
Sorry this is fast turning into a Woodie thread...
Overlunge