Good plant for edible privacy hedge, zone 5, full sun, near walkways and house door?

American hazelnut

Quince shrub

Serviceberry (might get too large, though, and probably too airy for the "privacy" part of your wish list),

Highbush blueberry IF you live where soil is acidic. It's 7.0 here, and they really really struggle.

There are shrub-form cherries (Carmine Jewel for instance)

Cranberry Viburnum

Apple trees, espaliered or otherwise severely trained to keep them short. https://www.google.com/search?q=juliet+cherry&biw=...

(Rosemary does NOT survive in zone 5. I live in the north end of zone 6. People keep trying here, and the only one I've ever seen survive was planted right up next to the south side of the house, giving it winter protection. And even that one bit the dust last winter during the polar vortex.)

Tuscan Blue Rosemary! It smells nicely piney and is covered with blue flowers in the spring and summer and normally grows up to 6-feet tall and 2 to 4 feet wide It is ideal for a hedge, can be pruned or not, and has an array of uses. Rosemary, as are most herbs, are not known for attracting bugs and will be much 'cleaner' than many alternatives, like crab apple. It can be a perennial in zone 6, and I wouldn't be surprised if it survives well in zone 5, once established, especially since it is in full sunlight. It is an evergreen as well, so will look nice year round. I can even picture it decorated with twinkling lights for Christmas! Hope this helps.