Dance with both parents?

Honestly as a guest I would only care about the couples first dance. I still wouldn't think about it even if I seen the groom and mother of the groom dance. You shouldn't have to give the honor to your dad just because he is your dad, it takes more then a title to be a dad.

99% of guests don't care about parental dances and speeches given by people other than the newlyweds, they only enjoy the 1st dance and the groom/bride speech(es).
Only doing ig to appease him is not a good idea because you won't enjoy it. Plus: mother-daughter dances are more common than you think. Are you really worrying about how dad would feel or because families could think something along the lines of : " He's not escorting her nor dancing with her, she's disrespecting him"? You said it yourself "I’m thinking of having my mom also dance with me because she deserves it more" so have the dance with mom and stop worrying about dad, as long as you and your fiancé are happy with what you're planning.

I danced with both my dad and my mom. I kept my mothers dance a secret and had it to one of her favorite songs. She was so happy. I truly wanted to have her honored because she helped me through so much of the planning, came with me to all my dress appointments an hour away, helped pay for my dress with my dad and even gave money to help with our wedding even though we were saving on our own. I say do a dance with both parents if that’s what’s in your heart. And it shouldn’t even take a whole 5 minutes. I quickly learned how long 3 minutes were when you don’t have a dance routine lol would definitely recommend choosing a start and end point of the song for your dj and keep it to 2.5 minutes. Trust me it will definitely feel like a long time up there.