Obviously it is not needed to embed any solution of Einstein's equations in a higher dimensional flat space, although it can be done.
If we had a theory that space-time was a curved 4D manifold in a flat 5D spacetime, how would we test this theory?
This would imply, I believe: $g_{\mu\nu}(x) \equiv \partial_\mu X^N(x) \partial_\nu X^N(x)$ for N=1..5.
What effects could we test for? Are there some solutions of Einsteins equations that could only be embedded in 6D and hence the prediction would be these can't exist?
What other effects might we observe?