Boards like the Adafruit Itsy Bitsy M0 and M4 meet all you requirements, except for the 5V, since they're 3.3V microncontrollers. They're Arduino compatible and can be programmed through the Arduino IDE, plus the Itsy Bitsy is really small as well.
Officially, these boards have a single Serial1 UART, but it's possible to easily configure the microcontroller's spare Serial Communication (SERCOM) modules, to create additional hardware UARTs: Serial2 and Serial3.
@jan5650 Even without a physical board, I guess you could get the Arduino IDE to load the Adafruit boards with aid of the boards manager and see if they compile with the NeoGPS library.
The ATmega808, ATmega1608, ATmega3208, ATmega4808series of chips each have 3 USARTs.
(Available in 28-pin through-hole as well as 32-pin surface-mount packages).
The ATmega809, ATmega1609, ATmega3209, ATmega4809 series of chips each have 4 USARTs.
(Available in 40-pin DIP through-hole as well as 48-pin surface-mount packages).
They appear to also meet all your other requirements.