Find the rank and nullity of the matrix $A = \begin{bmatrix} 3 & 2 & 1 & 1 & 1\\ 2 & 3 & 0 & 1 & 1\\ -1 & 1 & 2 & 1 & 0\\ 1 & 1 & 0 & 1 & 1\\ 0 & 1 & 1 & 2 & -1 \end{bmatrix}$.