This may be hard to achieve , but not impossible .
I think I found a solution :
You may bind the height of the GridView to the items/ items count in the source .
You will need to implement a custom IValueConverter for this binding . Then inside the convert method you may check the items count.
In case rows are more than 5 - return a fixed height e.g. 100 , in case rows are less than 5 - return Auto height.
In case you have troubles implementing this ,just let me know and I will provide a small working sample for you .
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