Solution
I imagined, what if instead of finding the probability of getting $5$ consecutive faces in $100$ rolls, I calculate the probability of not getting $5$ consecutive faces in those $100$ rolls? So, I made restrictions and cases.
Let $a_n$ be the number of ways to avoid $5$ consecutive rolls in $n$ rolls. Then our answer is $1-a_{100}/6^{100}$.
In the first $4$ positions, there is nothing to avoid, so $a_n=6^n$ for $n\le 4$, i.e. $(6, 36, 216, 1296)$.
And for $a_5$, which has a total $6^5$ outcome but since this is where we limit the streak of going $(1,1,1,1,1)$, $(2,2,2,2,2)$, $(3,3,3,3,3)$, $(4,4,4,4,4)$, $(5,5,5,5,5)$ and $(6,6,6,6,6)$. So taking account the restrictions,
$$a_5 = 6^5-6=7770.$$
For $a_6$, this is where the recursion should start. First, $a_5$ multiplied by $6$ is the total outcome of rolling a die, then subtract it with the product of $a_1$ and $5$, which is the $5$ consecutive faces we are trying to limit.
$$a_6=6a_5-5a_1=(7,770\times 6)-(6\times5)=46,620-30=46,590$$
Now for $a_7$, we just repeat what we did just like in the previous case, but this time we have $a_6$ multiplied by 6, then subtract it with the product of $a_2$ and $5$, which is the restriction.
$$a_7=6a_6-5a_2=(46,590\times6)-(36\times5)
=(279,540)-(180)=279,360$$
And now you get the pattern
$$a_n=6a_{n-1}-5a_{n-5} \ \ \text{for} \ \ n\ge 6.$$
The Google Sheets calculation gives $a_{100}\approx 6.14023 \times 10^{77}$ total number of ways to avoid $5$ consecutive rolls in $100$ rolls. So
$$X := \frac{a_{100}}{6^{100}}
\approx \frac{6.14023\times 10^{77}}{6.53319\times 10^{77}}
\approx 0.9398522064
\approx 93.99\%$$
So the answer $1-X\approx 0.06014779357\approx6.01\%$.
Sanity check
I was surprised by the result because I think $X$ is too big. So I solved another problem that is easier to manually check with the same method:
What is the probability of encountering $3$ consecutive equal flips in $6$ coin flips?
The number of possible outcomes is only $2^6=64$ outcomes. Let $a_n$ be the number of ways to avoid $3$ consecutive flips in $n$ flips. Then our answer is $1-a_{6}/2^6$.
In the first $2$ positions, there is nothing to avoid, so $a_n=2^n$ for $n\le 2$, i.e. $(2, 4)$.
Third position has $2^3$ outcomes, but since we limit the streaks of forming $(0,0,0)$ and $(1,1,1)$, it should be
$$a_3 = 2^3-2=6.$$
For the fourth position, just like what I did with the dice which this is where the recursion will start. the 3rd-pos multiply by $2$ since that's the total outcome of flipping a coin, then subtract it with the product of 1st-pos and $1$, which is the $3$ consecutive faces we are trying to limit.
$$a_4 =2a_3-a_1=(6\times2)-(2\times1)=10$$
Just repeat for fifth and sixth position.
$$a_5 =2a_4-a_2=(10\times2)-(4\times1)=16$$
$$a_6 =2a_5-a_3=(16\times2)-(6\times1)=26$$
So I get $a_{6}=26$ ways to avoid 3 consecutive flips in 6 flips. So the answer is
$$
1-\frac{a_6}{2^6}
=1-\frac{26}{64}
=0.59375
\approx 59.38\%$$
That also means, there are $64-26=38$ ways of encountering $3$ consecutive flips in those $64$ total outcomes.
Here's the manual checking on Google Sheets which confirms the answer.
This suggests that my solution to the original problem is correct.
Clarification for the subtraction part of the recursion
The subtraction is just the recurrence relation that is there to correct for invalid sequences that contain consecutives. I want to count the total number of valid sequences without the consecutive, but some sequences contain streaks that we don’t want. The subtraction removes those invalid sequences.
Example, let's just use coin flips.
Let’s say we want to avoid a streak of $3$ consecutive heads $(0,0,0)$ or tails $(1,1,1)$. If we started recurring, the $3$ consecutive faces will overlaps with the previous $n$th-pos, where's that's been accounted already with $a_{n-1}×q$
To make it clear, here's a single streak of $6$th-pos $(0,0,0,0,0,0)$ which has the streak of the $5$th-pos $(0,0,0,0,0)$ which also has the streak of the previous $n$th-pos.
The recurrence relation for coin flips is:
$$a_n=a_{n-1}×2-a_{n-3}×1$$
$a_{n-1}×2$ is all possible sequence with a given length of $n$.
$a_{n-1}$ is the number of valid sequences with length of $n-1$.
$2$ number of outcome which is the head and tail.
$-a_{n-3}×1$ removes invalid sequences that end with a streak of 3 identical outcomes.
For example if the the last $3$ flips are $(0,0,0)$ or $(1,1,1)$ these are the streak I want to exclude because it is already accounted from the previous $n$th-pos. As I explained above.
$a_{n-3}$ represents the number of sequences of length $n-3$.
If I append the $(0,0,0)$ or $(1,1,1)$ to these sequences, I will create an invalid sequence of length $n$ with a streak of $3$ consecutive outcomes.
$1$ There are only $1$ streak for heads $(0,0,0)$ and $1$ streak for tails $(1,1,1)$, so we subtract $1$ copy of each possible streak, hence multiplying by $1$.
Here's the visual representation about why we subtract the $a_{n-l}×(q-1)$
Breakdown of the formula
$$a_n = \begin{cases}
q^n & \text{if } n < l \\
q^l - q & \text{if } n = l \\
a_{n-1} \times q - a_{n-l} \times (q-1) & \text{if } n > l
\end{cases}$$
$n$=number of positions
$q$=number of possible outcomes (e.g., $2$ for coin flips, $6$ for dice rolls)
$l$=length of the $n$th consecutive faces.