As above, the crontab format allows you to schedule jobs like that; I always refer to this wiki article when I forget how crontab works;
https://en.wikipedia.org/wiki/Cron
So 9am every day looks like this;
0 9 * * *
and 9:05 every day like this;
5 9 * * *
(you can't do "5 minutes after the other job has finished" like this though - it is just a time-based schedule only, not event-based)
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EDIT : and your original "every 10 minutes" could look like this;
0,10,20,30,40,50 * * * *
or
3,13,23,33,43,53 * * * *
etc