I'm not sure of the Impedance, it is just a 1-5VDC to 4-20ma converter module.
Do you wanna replace the 1-5V to 4-20mA module?
If not, and if you got long leads, the 4-20mA is the better way to go, as the low impedance will be much less prone to noise pick-up.
At the receiving end, a resistor is all that's needed and it can be scaled to whatever max. voltage you need (5V here), as long as the driver can supply it.
An op-amp can make a 4-20mA (or 1-5V, or 1-10V) into 0-5V, if you need the full resolution of the D/A-C.
In your first post you said 1V-10V now you say 1V-5V?