HTML5 basically behaves as if the trailing slash is not there. There is no such thing as a self-closing tag in HTML5 syntax.
Self-closing tags on non-void elements like
This is true regardless of whether there is whitespace in front of the slash:
Self-closing tags on void elements like
or will work, but only because the trailing slash is ignored, and in this case that happens to result in the correct behaviour.
The result is, anything that worked in your old "XHTML 1.0 served as text/html" will continue to work as it did before: trailing slashes on non-void tags were not accepted there either whereas the trailing slash on void elements worked.
One more note: it is possible to represent an HTML5 document as XML, and this is sometimes dubbed "XHTML 5.0". In this case the rules of XML apply and self-closing tags will always be handled. It would always need to be served with an XML mime type.