A beam-steering apparatus comprises a set of planar tiltable mirrors positioned to define a light beam path therebetween. The set of planar tiltable mirrors comprises from three to five planar tiltable mirrors. Each of the planar tiltable mirrors has a center of rotation lying in a plane of the mirror and each of the planar tiltable mirrors is tiltable about one axis of rotation or two orthogonal axes of rotation that lie in the plane of the mirror. The total number of axes of rotation about which the planar tiltable mirrors of the set of planar tiltable mirrors can tilt is at least five. A mirror drive system tilts each respective planar mirror about its respective axis of rotation or axes of rotation. With this apparatus, an input or output light beam path is steerable over two angular, one rotational, and two lateral-position degrees of freedom.