Actually 5mph is quite fast. When I do a rolling stop in my car, it's typically on the order of perhaps 2mph, which is a speed where I can proceed in 1st gear without coming to a complete stop and then having to start again from a stop.
I just ran the math, the kinetic energy of a 2000kg car at 5mph is the equivalent of the kinetic energy of a 100kg bicycle+cyclist at 22mph.
I absolutely roll stops, but it's important to recognize what we might miss. My old commute had a series of 5 (virtually useless) stop signs in a row, an arterial with very little cross traffic but tons of 4-way stops. (should have been roundabouts). The routine of the drive, and the necessity to stop, the focus on the stop signs and stop lines, and the almost total lack of pedestrians meant that I'd occasionally start off before noticing the cross traffic or pedestrian. (yes, this is more of a boy-who-cried wolf kind of thing). Also, modern cars are amazingly difficult to see out of-- pedestrians can be hidden behind thick airbag-containing A pillars. When you're moving, however slowly, everything in your field of view is also moving. When you stop, it's much easier to spot objects that are NOT stopped.
Hell, just last week I was making a left turn on my bicycle. As I approached the intersection, I slowed, looked each way up the road several times as my sightlines improved, and just at the moment I committed to my turn and began to proceed, I saw the minivan coming from my left that was on a collision course with me; I locked up my brakes and stopped just in time. I know I looked exactly where the van was coming from, multiple times, but somehow missed it. I suspect, again, our brains are much better at seeing what's in motion when we are ourselves stopped.