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Q: Is wearing a harness necessary in a scissor lift when working at a height of 5m or less and not leaning out?

Wearing a harness in a scissor lift is not required unless your risk assessment has identified circumstances where they are necessary (which may include leaning out).
From the Best Practice Guidelines for Mobile elevating work platforms (MEWPs):
“Before starting work, a hazard assessment should be completed to decide whether a harness system will be needed to complete the job safely.”
The height you are working is not a consideration except for working out fall clearance for a fall arrest system.

Visit SiteSafe for safe practices for Safety Harness System and Download the Best Practice Guidelines for Working From Heights PDF