Hi Wong,
Master server can be NBU6 with media server and client on version 5.0 but must be of MP4 or later. Be careful if your other media server is also a Volume Database host, etc, you may have to some reconfiguration or upgrade them together with master server.
Also find out more on BMR compatibility (e.g. Boot server, SRT server, etc). The test I did on upgrading a NBU5.1 master server seems to suggest to me that there isn't any upgrade procedure for BMR but to re-install a new version. Others options such as Vault, Advance Reporter (no more supported in v6), customise scripts, etc are something you would like to look into before the upgrade.
You can find more details in the following documents:
Release Impact Bulletin:
http://support.veritas.com/docs/278132
Release Notes Known Issues Documentation:
http://support.veritas.com/docs/278130
However, I feel that the impact is one aspect but the reason of having a mix environment is also crucial. Is there any feature(s) that NBU6 or NBU5.1 is justifying the upgrade? Or else I would suggest remaining in a more stable environment (i.e. at most upgrade to 5.1) rather than be adventurous.