One remained missing on Sunday afternoon but authorities were able to recover it after 4 p.m.. Officials have not released details on how it was recovered as of 4:30 p.m.
Four of the vehicles were recovered following the burglary from the Alameda County Parking Garage at 165 13th St., which was discovered at about 7:15 a.m. by a Sheriff's Office employee.
But one had not been recovered by about 2:15 p.m., when the Sheriff's Office released a statement about the burglary.
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The presence of emergency equipment on the missing vehicle led the Sheriff's Office to advise caution to anyone approached by someone claiming to be law enforcement in a vehicle matching that description.
The Sheriff's Office said in a statement that it did not have information that there was an "immediate threat" to the public but urged the public to remain "vigilant."
"The Sheriff's Office understands the concern that incidents involving stolen law enforcement vehicle may cause within the community," the Sheriff's Office said in a statement before the missing vehicle was recovered. "We want to reassure residents that this case is being treated with the highest priority, and investigators are employing all available resources to recover the vehicles and ensure public safety."
Anyone with information about the vehicle should call 911 or contact the Sheriff's Office at (510) 667-7721.
KGO-TV contributed to this report