Skimming does not remove nitrates per se, but does remove the dissolved organic compounds (DOC) that eventually decay into nitrates/phosphates. As a result, skimming will PREVENT nitrate accumulation.
5ppm of nitrates isn't bad for an LPS, softies, clam tank. Softies actually seem to better with slightly "dirty" water and clams actually like some NO3 in the water to feed upon.
A skimmer, while not absolutely necessary, is good to have because it makes controlling DOC a simpler task.
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