Expire is the best solution if that light is only ever controlled by the motion detector or the light should always turn off five minutes after the last time it was updated.
However, if you want to control the light in other ways, you will need a rule with a Timer.
[Deprecated] Design Pattern: Motion Sensor Timer will give you a bit of the theory behind something like this will work and some examples. But I’ve not yet updated it to OH 3 UI rules yet so come back and ask if you need help translating from the examples there to the UI. If you have a basic understanding of rule triggers and actions it shouldn’t be too hard.
There is also an example showing how to use Expire there to solve this as well.