That 5100 RPM / 34 MPH is common. All the 2520DVSC I've been on (with single 250 two strokes) were rigged that way, including my own.
Interesting I've repowered mine with an F250 this year. We played with lots of props, bear in mind that the four stroke wants to max at higher (6000 RPM ideal) and has a differant gear ratio.
The guys who repowered my boat have alot of experience, in their mind, on a marginally powered boat (lets face it 250 is marginal for this rig) you want to maiximize the diameter first, than adjust pitch to get propper RPM at WOT.
What we ended up with is a 15.75" x 15 Yamaha SWSII. The motor turns 6000-61000 WOT whci is ideal. The top speed is the same as the old motor, about 32 knots, light load.
The new setup performs better than old in many ways besides the obvious (economy baby !!). That bigger prop holds the boat on plane better, giving me a wider range of cruise RPM.
So, if I were to monkey around with a new prop on that rig, I would spin the largest diam that you can, than, adjust the pitch for suitable RPM.
Bear in mind though, thousands of 2520DVSC are rigged with the prop you are talking about, I'm pretty sure Parker woudl have switched props if it made sense.
Let us know how you make out.