How much time it takes to restore RDS Aurora DB from AWS Backup?

In general time to restore from a recovery point using AWS Backup depends on the size of the data and type of resource being restored, is it a single DB, or an entire aurora cluster, a time frame cannot be estimated, it may take 5 minutes or 1 hour.

Please take a look to https://docs.aws.amazon.com/aws-backup/latest/devguide/restoring-aur.html And: https://docs.aws.amazon.com/AmazonRDS/latest/AuroraUserGuide/Aurora.Managing.Backups.html