You have an NP241 in your 91 K5. You can pull a 700r4 from an 1982 - 1993 Chevy 4x4 truck, suburban or K5 of either body style within that year range. The newer the transmission, the tougher it'll be. All have a 27 spline 6 bolt round transfercase pattern, which will mean that your current NP241 will bolt straight up.
The newer 4x4 truck also use a 6 bolt round pattern, they are electrically shifted. The manual transmissions are also an option, many are 32 spline however, which means you'd need to change the input shaft on your transfer case. I had a 2004 Chevy NV3500 5 speed manual transmission installed in my 1986 K10 with a 6.2L diesel and it nearly bolted straight in.