Display a number in another worksheet by matching up ID then within certain time range

I am hoping to display a pain score from one worksheet to another worksheet. The common link between the two worksheet is a subject ID number.
The problem that I run into is that these scores are recorded at different times.
I am hoping to have a formula where I can match up the score that is at least within +/- 5 mins when these scores are recorded.

I've posted an example below, please let me know if this makes any sense.
Any help or comment would be greatly appreciated.