First, as to your real question, I think your issue is that an NPC got XP when your own PC did not. There are those who feel that if a character is in any way involved in a fight, they should get XP. (For instance, a cleric who does nothing but heal you is still involved, so should still get a share). On the other hand you decided what was going on was silly. So you opted out. So I can't say I blame your GM for his decision.
As to the question in general...
Five NPCs is a lot of NPCs, especially when it comes to doling out XP.
Generally, for your question, I would say that in my games, I do reward XP to NPCs who have become very close to the party, and upon whom they rely heavily (such as a healbot when the party is sans cleric), and who the players like a lot. However, as I keep those NPCs on a leash so as not to steal thunder from the PCs, then tend to get less XP just as a matter of course.
Alternatively, I sometimes just level the NPCs up appropriately without splitting any XP with them, for instance when they have not adventured with that NPC for awhile, but now they need him and it would be good if he did not die right away.
Your situation is different, I feel. In my games, it would never fly to split XP across so many NPCs. My players would not be particularly happy. Which is why I usually limit NPCs in our parties in the first place. However, there is an exception...
In our current campaign, the PCs have a goodly number of what might be considered "Red Shirts," coming along with them, who tend to die before they can get any XP anyway. Because there are so many of them (these PCs are part of an army, and they have soldiers under their command), I do not intend to split XP with them, but instead, will level up any survivors as is appropriate as the party advances.
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I have DM in the past and would have awarded out exp to everyone as to do what did happens mean you are encouraging the old D&D mentality of its a monster kill it. Which was boring, was in a group of player years ago with this attitude and they attacked a large beetle only because they would get exp for it.
Yeap, XP makes people do all kinds of stupid things when used poorly. I prefer to not use XP at all or keep it strictly under the hood. For me the game runs so much better. I'd let your GM know you are frustrated. You may have incompatible play styles or maybe you can work it out.
Oh and I wouldn't award XP to NPCs unless they were DMPCs but I try to avoid those like the plague. Not sure what RAW says about that.
I would say no; NPCs are whatever level the story needs them to be. There's no reason to give them XP.
Of course, I'm generally against tracking XP in general, and levelling up the party on the basis of story as well.
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Speaking from personal experience, I don't split xp earned amongst NPCs who are on-site during combat or an adventure.
That being said, as the presence of NPCs obviously affects the situation (beenficially or otherwise) I apply ad-hoc effects to the encounter level and the xp able to be earned.
Fighting a red dragon with 3 frost ballista crews backing you up is not the same as fighting a dragon while covered in kerosene for example.
I have found that some DMs fall into what I call XP-Loan Sharking though. Thats an altogether seperate problem.