First of all this method is not fully tested and might not work if Wii U has a Standby mode enabled or alredy done the update process and I take no responsibility if your Wii U gets bricked by doing this.
When you get a message that tells that system update is available, dont press anything instead power off console by unpluging the power and plug it back again, then power on the console and hold B button to get to vWii mode, from there (i actualy had a crash/freeze from vWii homebrew by messing with it but dont know if that is important :/) go back to Wii U mode and the system update window should not appear and firmware should still be on 5.5.1.
Also at this point you would want to remove update files to make sure to prevent any system updates, probably by using ftpiiu_everywhere.
When you get a message that tells that system update is available, dont press anything instead power off console by unpluging the power and plug it back again, then power on the console and hold B button to get to vWii mode, from there (i actualy had a crash/freeze from vWii homebrew by messing with it but dont know if that is important :/) go back to Wii U mode and the system update window should not appear and firmware should still be on 5.5.1.
Also at this point you would want to remove update files to make sure to prevent any system updates, probably by using ftpiiu_everywhere.