There are a lot of different philosophies about power. Some people believe that you should only pull as little power out of the engine as you can. But remember, component overhauls intervals are based on published power limits. You get no official extra credit or extension by babying the bird.
The reality is that you can pull up into the yellow for five minutes, push the pole down into the green, then pull up into the yellow for another five minutes. Factory instructors (being human) don't like to admit this, but it is true. Good practice? I did not say that.
I'm with Blender. Sometimes, just hovering out for departure will put you well into your five-minute limit. You're going to need another couple of minutes for the take-off...what do you do? Well, obviously, you set her back down and get the offending gauge back into the green. But you will not find any guidance as to how long you must let the engine/transmission "rest" for there is none. Pull and fly away, my son.