5. If they (listen) to me, we (be) home earlier.

5. If they had listened to me, we would have been home earlier.

В условных предложениях третьего типа (Type 3) в придаточном предложении (if-clause) используется Past Perfect, а в главном предложении (main clause) используется would have + Past Participle.

Ответ: If they had listened to me, we would have been home earlier.