The difference between the postfix and prefix increment operators is the return value of the expression. Since the results of expressions are not used in the examples given for cycles, there is no difference for cycles. In cycles, the values of the $i variable are used after the calculation of expressions with increments.
Compare your for loops with while loops
$i = 0; while ( ++$i <= 5 ){ echo $i."<br>"; }
and
$i = 0; while ( $i++ <= 5 ){ echo $i."<br>"; }
In these cycles, the results of expressions with increment are already used.
There was a time when the question of how to write an increment expression in a for loop either as $i++ or ++$i was of great interest from the point of view of code optimization in various programming languages. But now compilers and interpreters are so advanced that they usually generate the same object code when the value of an expression is not used.