In 1957, the Braves used a four man rotation. I think that was normal unless a team only trusted three starters and had to fill in with scrubs. In 1971, people thought it normal for Baltimore to have a four-man rotation (four 20-game winners, and one guy who started nine extra games). A five-man rotation was not conventional wisdom. Same with the 100-pitch start: Paul Richards was the first manager, first I remember, to set such a low pitch-count. He did it to protect his young pitchers. Late '50s.
If baseball can go from four starters, baseball might tolerate six...except that now a "quality start" is six innings, rather than nine, and a team hopes to get seven innings. With six starters going six or seven innings, a team will have one less relief pitcher.
One oddity about the current five-man-rotation and no back-to-back double-headers: the relief pitchers become so specialized that a long RP is expected to go only about three innings. When the extra games popped into the Nats' schedule, last year, they went to a minor-leaguer rather than a long RP / spot starter. It might be harder to use Roark for the odd start once he gets set as a three-inning (tops) guy. Consider Stammen and Detwiler last season: both former starters.