Puppies change so much in the course of a matter of weeks so a one off test for being timid, in a new place to them and by new people I feel will not give you a true insight into their personality.
I've picked puppies up (for checking, nail clipping etc) sometimes they are compliant and sometimes, eg if you've just interrupted them from a good game with a litter mate and they will react differently. Some are ready for a good sleep and happy to have any lap at other time the same puppy is full of beans, just woken from a big sleep and can't sit still.
No 5 minute test will give a true insight into puppies personality. Only an observant breeder can do that for you.
And regardless of how outgoing a pup is, being separated from it's litter mates in the hands of a stranger is not something that many puppies are totally comfortable with immediately, but most move on from it quickly.