Well, at 5-10 min into a ride, then it repeating after it cools off, sounds to me like it could be the hall effect sensors getting hot.
You can test this in your driveway. Bike on the center stand, start it, and use a hair dryer or heat gun on the sensors to get them hot.
They are behind the 'T' shaped cover at the front of the engine.
Could also be fuel pump, or fuel pressure regulator getting weak and failing while running, even though you said the dealer checked them.
You will find, as many others here, there are not that many dealer mechanics around anymore that actually have any hands on knowledge(experience) or "know" anything about these 20+ year old bikes. Not that there can't be, they are just becoming fewer and fewer.