We study $^5$He variationally as the first $p$-shell nucleus in the tensor-optimized antisymmetrized molecular dynamics (TOAMD) using the bare nucleon--nucleon interaction without any renormalization. In TOAMD, the central and tensor correlation operators promote the AMDs Gaussian wave function to a sophisticated many-body state including the short-range and tensor correlations with high-momentum nucleon pairs. We develop a successive approach by applying these operators successively with up to double correlation operators to get converging results. We obtain satisfactory results for $^5$He, not only for the ground state but also for the excited state, and discuss explicitly the correlated Hamiltonian components in each state. We also show the importance of the independent optimization of the correlation functions in the variation of the total energy beyond the condition assuming common correlation forms used in the Jastrow approach.
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