Helio2024 Science White Paper: Solar and Heliospheric Magnetism in 5D

This White Paper argues for the urgent need for the multi-vantage/multi-point observations of the Sun and the heliosphere in the framework of six (6) key science objectives. We further emphasize the critical importance of 5D-``space'': three spatial, one temporal and the magnetic field components. The importance of such observations cannot be overstated both for scientific research and the operational space weather forecast.