Panasonic S5 II has a 24.0MP Full frame (35.6 x 23.8 mm ) sized CMOS sensor and features Venus Engine processor. On the other hand, Canon R6 has a 20.0MP Full frame (36 x 24 mm ) sized CMOS sensor and features Digic X processor.
Another difference between these two cameras is that Panasonic S5 II's sensor lacks anti-alias (Low-Pass) filter. Removing anti-alias filter increases the sharpness and level of detail but at the same time, it increases the chance of moiré occurring in certain scenes.
Below you can see the S5 Mark II and R6 sensor size comparison.
Panasonic S5 II and Canon R6 have almost the same sensor size, so neither of them has any significant advantage over the other in terms of providing control over depth of field when used with the same focal length and aperture.