The fifth generation (5G) mobile technology features the ultra-reliable and low-latency communications (URLLC) as a major service class. URLLC applications demand a tight radio latency with extreme link reliability. In 5G dynamic time division duplexing (TDD) systems, URLLC requirements become further challenging to achieve due to the severe and fast-varying cross link interference (CLI) and the switching time of the radio frame configurations (RFCs). In this work, we propose a quasi-dynamic inter-cell frame coordination algorithm using hybrid frame design and a cyclic-offset-based RFC code-book. The proposed solution adaptively updates the RFCs in time such that both the average CLI and the user-centric radio latency are minimized. Compared to state-of-the-art dynamic TDD studies, the proposed scheme shows a significant improvement in the URLLC outage latency, i.e., 92% reduction gain, while boosting the cell-edge capacity by 189% and with a greatly reduced coordination overhead space, limited to B-bit.