W..
The phrase that stuck out at me in your post was "If we happen to yell at her, for example, for not cleaning up her toys"......
Why are you yelling? Yelling is not constructive. For a kid it can actually be scary.
Low self-esteem at 5 is not normal.
Self-esteem is built by feeling that you are *competent* and that, when presented with any given situation you have the *ability* to be successful. So, you can build self-esteem by putting your child in experiences where they will be able to successfully complete tasks which foster them to have a sense of "I did good".
Self-esteem is not built by you telling your child you love them, or you like the painting they drew. Self-esteem is LOWERED by you yelling or telling them they are not good enough or they *can't* do something.
When you have low self-esteem because you are in an emotional abusive home..... it affects every aspect of your life. It's pervasive. Please find other ways to discipline your daughter - like ONLY positive reinforcement. Tell her what you WANT her to do and then praise her when she does it.
Dr Phil (who I don't like everything he says.... but this I like) says it takes 100 atta-girls for every 1 negative. So, think of it this way..... every time you yell at your daughter to pick up her toys it will take 100 times of her doing something right where you praise her behavior for her to be BACK AT SQUARE ONE as far as she feels about herself.
Where are you on that scale? Have you given her 100 atta-girls for the ONE time you yelled at her? How about the 1,000 atta-girls you should give her if you've yelled at her, on average, 3x each year since she turned 3?
5 year olds are learning by behavior that is modeled around them. What are you teaching her?