No, in this case, you should use arrived. And you can also use appeared. We booked an Uber and within 5 minutes, the car arrived at our door. We booked an Uber and the car appeared at our door within 5 minutes.

I suggest to use " arrive and appeared".

Hi, Yes, but you can only use 'stop' in this sentence because of context. Otherwise you would not use 'stop'. Usually: came to = arrived at, and sort of means 'appear', but appear is more colloquial. 'stopped' does NOT mean came or arrived. Stopped means stopped, not moving. So you can say "The uber came/arrived.", but not "The uber stopped". (This is the same as 车停了in Chinese. It can mean it stopped in traffic.) BUT because you said "it ____ at our door" (you gave a location, and you need a verb) You could say: "We booked an Uber and in 5 minutes it arrived at/came to/stopped at our door." If you use 'stopped' here, it would mean "车停在了门口" in Chinese