Xposed framework took its own sweet time to arrive for Android 5.0 Lollipop. Even after developer rovo89 was able to rewrite the framework from scratch for Lollipop, he was unable to get it to work on Samsung devices due to the low-level changes made by the company to ART.
Well, there is some good as well as bad news for owners of Samsung devices running Lollipop. An unofficial version of Xposed framework has been released by a developer that is compatible with Samsung devices running Lollipop. The bad news, however, is that the installation procedure is extremely complex that almost makes it a no go for novice users.
The installation procedure requires users to decompile some low-level ART files of Android, modify and recompile it again, and then flash it via the custom recovery installed on their device. Additionally, the framework is only compatible with Samsung devices that are running a deodexed Android 5.0 and sport a 32-bit CPU.
The reason behind all this hackery to get Xposed framework to work on Samsung devices is because the company has made some major changes to ART compared to the AOSP version of the runtime that is found on other devices.
If the complex installation procedure does not deter you from installing Xposed framework on your Samsung device, you can find the installation steps here and the download link here.