Can DS-5 Streamline be used with RTSM/Fixed models for cortex-A53 processors?  If it is possible, what is the procedure ?

The short answer is that Streamline is not intended for use with the Fast Models/FVPs/RTSMs.

The long answer:

Streamline makes heavy use of the PMU (Performance Monitor Unit) to record information.  The Fast Models only partially implement the PMU, meaning that most of the counts would not return anything.  Even where they did - the Fast Models are functional not cycle accurate.  Any count relating to micro-architecture wouldn't given you an accurate value.

I know of no theoretical reason you couldn't run the daemon on Fast Model system.  But as explained, it's highly questionable whether you could get many numbers and whether those numbers were meaningful.