I'm not a very high level player. I have played R53 for an extensive time, and have had a few tryout sessions with D05.
Speed: Both have a very high top-end speed. D05 is much more lively in the short game, where R53 is relatively subdued (which I like). When fully engaged, I think the R53 rockets come off slightly faster than the D05 ones.
Spin: Monster spin production starts a little earlier on with D05, but as stroke intensity increases R53 catches up and takes over at the top end. My serves were about equal, my D05 pushes (if I managed to keep them on the table) could be spinnier (but also popped up every now and then), my counterspins with R53 had a little more quality to them (I think).
Arc: D05 has a higher arc, a stronger "dip down" at the end of the curve, than R53 does - at moderate impact loops. At higher impact, both bend the curve tremendously (look at any Gauzy clip).
Control: I had trouble in the short game with D05, and also felt more comfortable in blocks and flat hits/smashes with R53. Lifting backspin is relatively easy with both, maybe slighty more so with D05.
Durability: My R53 still felt new or near-new after a few months play - until I ripped it grazing the table edge. It'll be fine, I guess, for a long time as long as you keep it intact. I haven't played long enough with D05 to notice any degradation, word on the street is that it lasts better than T05, which isn't the worst of all in terms of durability already.
Take this with a grain of salt. A lot of these things have to do with personal feeling and preference, and are very level-relative. That being said, I probably will glue on R53 again once my current Vega X sheet wears out.