My understanding is that most city water pressures are created by water towers - that's the whole idea behind them.
Some remote area's will use sub-stations to actually pump water to various neighborhoods or developments - although this is not as common in large cities. Civil Engineer's out there may be able to help on this part of the question.
Not much you can do from that standpoint.
In the house your water pressure is somewhat limited by the size and amount of scale build up in your pipes, in addition to the main valve that ijji mentioned above.
But .......... for your RO unit.
50 GPD divided by 24 hours = 2.08 gallons per hour under ideal temperature and pressure conditions.
3.12 gallons in an 1-1/2 hours would make sense under these same conditions.
So 5 gallons in an 1-1/2 hours is pretty decent for your unit IMO.
Better than expected - I'd be pleased.
There are some accessories you can buy for RO or RO/DI units that create more supply pressure too, but I've never looked into these things.