Sequential gearboxes are like this a little, you get used to it and after a bit won't come to a stop unless you're in an appropriate gear, As said if you do end up at the lights in 5th, Just let the clutch out to biting point, back in again and you should be ok, you may have to do this a couple of times on the way down the box. Also you can try using your feet to ever so slightly rock the bike back and forth a few inches with the clutch in, this can help too.
In short it's about changing the load and position of the output and input side of the gearbox so everything lines up nicely
