A regular 12mm hex nut is 10mm thick. Add 1 thread for projection and you get 11.5mm. That would be minimum for bolting. Add to that the rotor thickness for length of bolt that should project. The rule of thumb is 1.5xdiameter, so that is probably where the youtube number came from, and it may very well be too much for rears. Only way is to measure the hubs and disks or do a test with a factory bolt and wheel.
The 5 or 6 thread engagement that OP appeared to have is only 7.5 to 9mm - not enough for a 12mm bolt??
A basic requirement of bolted joints, is that the bolt should shear before the threads strip.
ADDED: I checked the stud length on my 350SL using one stud from a rear wheel and the spare wheel which like the others is steel. The youtube video doesn't say what they mean by bolt length. It is from underside of ball to end of bolt. The one below is 21mm, not 40mm. On the 107 with steel wheels, the length is 21mm. There is an indent in the wheel, so the length protruding from the inner face of the wheel is less - As it happens, it is about 17mm. It was hard to measure the rotor thickness without removing the wheel, but I measured about 5.5-6mm. This would leave about 11-11.5mm of thread for engagement in hub and extra that protrudes. It could very well be that hub has only about 9mm thickness or 6 threads? Maybe someone has one that they could measure.