Pull-requests are easier when your code is up to date! You can use git rebase to update your code to incorporate changes from other contributors. Here's how.
Make sure you're tracking upstream p5.js repository.
git remote show upstream
If you see an error, you'll need to start tracking the main p5.js repo as an "upstream" remote repository. You'll only need to do this once! But, no harm is done if you run it a second time.
You may have some conflicts! It's okay. Feel free to ask for help. If merging with the latest upstream master causes conflicts, you can always make a pull request with the upstream repository, which makes the merge conflicts public.
Here's a good reference on rebasing, in case you're intensely curious about the technical details. https://www.atlassian.com/git/tutorials/merging-vs-rebasing