I have both Domino and Medusa as r5s. I did Domino 1st and I tend to use her much more than Medusa. She's burstier for shorter fights and probably outdamages Medusa even on long fights except for bleed immune. Medusa has the edge on poison, robots and where armor breaks are needed. If you're only taking up one it should be Domino.
I'd like to say Domino. But I have my 5/50 on my Map 5 team and wouldn't have it any other way. She is my sentinel specialist and never dies. Fantastic security knowing I can go to her.
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But that Domino damage, though...