XHTML is hard-structured, and among its negatives, requires being fully downloaded to be parsed and validated.
HTML, including H5, has soft-fail modes.
At least that's the justification I generally see. See the Criticism section of the Wikipedia article:
You're responding to a thread pointing out that browsers are too complicated to implement, which has forced everyone but Google and Mozilla to give up on providing browsers and web standards.
And Google is currently the funding source for Mozilla, giving them a more or less complete monopoly on the future of the web.
At least that's the justification I generally see. See the Criticism section of the Wikipedia article:
https://en.wikipedia.org/wiki/XHTML#Criticism