The attachment of 5G with millimeter wave (mmWave) frequencies offers massive capacity and low latency to reveal the full 5G experiences. High directive gain and beamforming are considered essential for mmWave 5G systems. The main requirements of the beamforming network for 5G mmWave applications are the scanning coverage of +/- 60 degrees and SLL > 10 dB in a wide operational bandwidth over the standard 5G frequency bands. In this paper, a novel PCB-based wide-angle Rotman lens beamformer is designed, simulated, and successfully measured to meet the mentioned requirements for 5G mmWave applications. A comprehensive improved design methodology is provided for all components of the Rotman lens to reach a wide scanning angle, enhanced sidelobe level, and low scan loss. The end-fire Vivaldi antenna is selected as an array element for easy integration to the beamforming network as well as its capability to use in dual-polarization configuration. The proposed Rotman lens is operational in the 24-30 GHz frequency band covering 5G n257, n258, and n261 frequency bands. The results show a nearly constant 8 beams across the whole bandwidth steering from - 53 degrees to 53 degrees in 15 degrees increments to provide +/- 60 degrees coverage with the SLL > 10 dB and scan loss < 1.9 dB. The retrieved novelties from this work contain an effective design methodology for an optimized Rotman lens with wide-scan angle and low phase and amplitude error, non-uniform distribution based array ports, and integration with end-fire antenna for possible dual polarization and 2-D beamforming capabilities. The comparison of the proposed beamformer with the most recent works shows several advantages in terms of integrated structure and performances including bandwidth, wide scanning angle, SLL, and scan loss. With such performances, this beamformer can be used for various mmWave and 5G applications such as advanced antenna systems, massive MIMO systems, and hybrid beamforming systems.