Just tried this with Apple Maps + Siri and it can do it if the place you’re asking for is not ambiguous but it requires you to press to confirm. It can also show you the amount of time the stop will add in a prompt before hand, but again only visually.
Edit: I tried to do this on my way home and couldn’t get it to work after 7-8 tries. Siri would stop listening mid-sentence and never understood the “less than 5 minutes” part. Maybe because I’m not a native English speaker.
Maybe I was being too cynical then, but last time I checked it didn’t work. Hope this particular use case is not hardcoded in maps+Siri. If this works for general (but simple) queries then hats off to the LLMs and their creators.