I set the metronome going at the speed I'm comfortable with, say 45bpm, set a countdown timer on my phone for 5 minutes with a 5 second bonus prep time and have my list of 5 chord changes either written down in front of me or memorized. Then for 1 minute I do A-D at 45bpm, when the timer hits 4 mins remaining I start on D-E, at 3 mins remaining then it's time for A-E and so on until I've done all 5 sets.
I found this is the best way to optimise my time and get rid of annoyances. Otherwise I was faffing around changing BPM between chord sets (45bpm for A-D, but 50bpm for D-E, etc) and restarting 1 minute timers. 5 sets of 1 minute changes would take close to 10 minutes. This way it's set everything going once, and away you go. The BPM has to be the lowest common denominator, but it's not so bad. I found my slowest changes tended to catch up quicker this way and my faster changes get cleaner because I'm not so rushed.