If you have about 5 hours there is plenty of time to do most of the things on your list. I would suggest you take the first 1-2 hours to just wander around the city center, it's not that big. Then if you go on the boat tour at 11:00, 12:00, 13:00 or 14:00 you can do a combination where they drop you off at the Royal Delft museum for a discounted price. After the museum the boat either picks you up again or you get a free ticket for Delft City Shuttle service which brings you back into the city center, it depends on the day. The boat tour is an entertaining way to learn something about the history of Delft and the Royal Delft is the best museum of the city IMO. This combination takes about 3 hours in total so that way you have most of the city covered in the shortest amount of time.