How to delay the execution of a rule for 5 minutes?
Is there a way to delay the execution of the actions so the node is
  actually created already?


Yes, you need to enable the Rules Shecheduler module (comes with rules). 

Then Create a Rule Component that will do your action.

Then create a rule with action of schedule component. (set it to 5 mins)

For example, see Rules Conditions being evaluated after schedule time elapsed? 

Attention:


  Be aware that the actual trigger will only happen the next time
  your Cron job runs. So if you say "after 5 mins", and the next Cron
  job runs in say about an hour, then it'll only be after about an hour.
  If that's not acceptable (as was the case in this question), then
  you'd have to run your cron job like every 5, 10 or 15 minutes.


So I suggest using Ultimate Cron, that way you can target, so that only your rule cron job runs every 5 or x mins, instead of running every single cron job.

In other words, it allows you to run different catagories/module cron jobs at different times. While you could run less crucial jobs, like Update Manager, only once a day (every 24 hours).