YT values overall session view time above all else. As long as your videos contribute to the overall time the viewer spent on the site, it will do well. If your video bores or annoys the viewer and they close the browser, your video will die quickly. 5 or 10 minutes doesn't really matter as long as it keeps viewers viewing and engaged. Sure, it's better to keep the viewers 5 minutes on your videos than 3, but if it's 3 minutes in a 3 minute video (with 100% retention) or 5 minutes in a 50 minute video (with 10% retention), I would go with the 3 minute over the 5 minute.
So you control what you can - make the videos as long as they need to be, cut slow bits, make everything snappy, and don't worry too much about the length.