The only way I can think of is kind of clunky. Using your example:
3dmaskave -mask '3dcalc( -a ROI+orig -expr 5-argnum(a-2,a-5,a-6,a-9,a-10) )' ...
This will use 3dcalc to compute a mask on-the-fly, read it in, delete it from disk, and then proceed. The function argnum(x,y,...) returns the number of nonzero arguments. In this example, if the value 'a' is in one of the 5 chosen ROIs, then one of the values 'a-2', 'a-5', ..., will be zero, so argnum() will be 4; otherwise it will be 5. So subtracting the argnum() result from 5 will result in the expression being 1 inside the combined mask, and 0 outside.
Note that you can't put any spaces in the expression following "-expr" in the '3calc(...)' dataset specification.
Advancing to the level of using on-the-fly '3calc(...)' datasets is one of the tests to become an AFNI Certified Expert (ACE) -- sort of a Jedi Knight in the AFNI Republic.