It just takes me five minutes to walk from my place to the supermarket. It takes me just five minutes to walk from my place to the supermarket. I feel there is a very slight difference in emphasis. I would use the second one if I'm trying to convey that the supermarket is close and convenient for me. You could also say "It's just a five-minute walk from my place to the supermarket."

It just takes me five minutes to walk from my place to the supermarket or It Is just five minutes walk from my place to the supermarket.