As Daniel Mathias stated in the comments, your solution is correct.
Here is another method of solving the problem:
As you observed, there are $5 \cdot 4 \cdot 3$ ways for the three people to take three different routes from $A$ to $B$.
Since there are six one-way trips and oly five available roads, at least one person must travel from $B$ to $A$ by a route another person took to get from $A$ to $B$.
Exactly one person travels from $B$ to $A$ by a route another person took to get from $A$ to $B$: There are three ways to select the person who travels from $B$ to $A$ by a route another person took to travel from $A$ from $B$, two ways for that person to select one of those two routes, and $2!$ ways for the remaining two people to travel from $B$ to $A$ by the two routes nobody took from $A$ to $B$. Hence, there are $$3 \cdot 2 \cdot 2!$$ ways for the three people to return from $B$ to $A$ for each of the $5 \cdot 4 \cdot 3$ ways they could have traveled from $A$ to $B$.
Exactly two people travel from $B$ to $A$ by a route another person took to get from $A$ to $B$: There are $\binom{3}{2}$ ways to select the two people who travel from $B$ to $A$ by a route another person took from $A$ to $B$. They can either both select to return by the route the other took to get from $A$ to $B$ or exactly one of them can do so, with the other selecting the route the third person took to get there, giving $1 + 2 = 3$ choices. The third person must return using one of the two routes nobody used to travel from $A$ to $B$. Hence, there are $$\binom{3}{2} \cdot (1 + 2) \cdot 2$$ ways for the three people to travel from $B$ to $A$ for each of the $5 \cdot 4 \cdot 3$ ways they could have traveled from $A$ to $B$.
All three people travel from $B$ to $A$ by a route another person took from $A$ to $B$: There are $2$ ways this can occur for each of the $5 \cdot 4 \cdot 3$ ways they could have traveled from $A$ to $B$, namely the oldest person returns by the route the next oldest person took from $A$ to $B$, the second oldest person returns by the route the youngest person took from $A$ to $B$, and the youngest person returns by the route the oldest person took from $A$ to $B$, or the oldest person returns by the route the youngest person took from $A$ to $B$, the next oldest person returns by the route the oldest person took from $A$ to $B$, and the youngest person returns by the route the second oldest person took from $A$ to $B$.
Total: Since these cases are mutually exclusive and exhaustive, the number of ways three people can travel from $A$ to $B$ and return from $B$ to $A$ on the five roads connecting the cities if they each take different routes from $B$ to $A$ than they took from $A$ to $B$ and no two of them take the same route in the same direction is
$$5 \cdot 4 \cdot 3\left[3 \cdot 2 \cdot 2! + \binom{3}{2} \cdot (1 + 2) \cdot 2 + 2\right] = 1920$$