Yalu102 is compatible with your 5S from iOS 10.0 - 10.2. If you haven't updated yet, download beta 7 from this link. You'll have to side load the IPA with Cydia Impactor. Plenty of tutorials on google and YouTube how. https://yalu.qwertyoruiop.com/
Yalu102 is pretty stable and you don't need any fixes or workarounds, like with mach_portal. It just works out of the box. I have it installed on a 6+ and iPad Air 2 and haven't had any issues. Most tweaks are now updated for 10.2.
The only 'drawback' is having to reload the IPA every 7 days, but that's the price to JB now days. It's something I don't mind putting up with, in order to have a jailbreak.