In PCl₅, P has 5 valence electrons in orbitals. To make 5 bonds with 5 Cl atoms, it will share one of its electrons from 3s to 3d orbital, therefore the hybridization will be sp³d.

And with sp³d hybridization, the geometry will be trigonal bipyramidal.

IF₅, the Iodine atom has 7 valence electrons in molecular orbitals.

Thus, Iodine will form 5 bonds with 5 Cl atoms using 5 electrons from its molecular orbital, two electrons will form one lone pair on Iodine atom, which gives the square pyramidal geometry to IF₅ molecule.