Here we demonstrate an efficient, long-distributed-cavity laser which uses a cat-eye retroreflector configuration to facilitate cavity alignment. The cavity parameters were optimized to meet the small stability region of the cavity, given the long working distance. We also found that intracavity spherical aberration seriously impacts laser efficiency, and an aspheric lens is used to correct the aberration when long working distance and receivers with compact dimensions are desired. The end-pumped Nd:YVO4 laser delivered 5.91 W continuous-wave output power at a long working distance of 5 m, under 16.6 W incident diode pump. Significantly, the fluctuation in output power over the whole working distance range of 1-5 m was less than 10%, this being achieved without any other cavity parameters being adjusted.