ltl2tgba 'G(!p0 | ((!p1 | X((!p2 U (p3 & Fp4)) | (p2 R !p3))) W p2))'
Gives a 10-state TGBA:
ltl2tgba -B 'G(!p0 | ((!p1 | X((!p2 U (p3 & Fp4)) | (p2 R !p3))) W p2))'
Gives a 9-state BA:
Looks like a case where simulation is more efficient on BA that on TGBA.