You should use the 5 point harness for as long as possible, as it's the most protective mode. However, the maximums must not be exceeded, as the seat may fail. There is usually an overlap zone because children grow at different rates in height and weight, and don't always hit both limits at the same time. Don't rush to move to the next stage as soon as the lower limits are met.
With the info you've given, in this seat the max weight for the harnessed mode is until the child reaches 18.5kg.
Age is only ever a guide, although minimum ages should be stuck to.
With the .5kg, and the 100cm minimum for the adult seatbelt I assume it is an R129 seat. Usually these also have a 105cm max for the 5 point harness use, rather than being a strict swap over at 100cm. Practically, it's less of an issue to slightly exceed a height limit on a forward facing seat because they are rated up to the max possible sitting height for that standing height, as long as you are within weight limit, but it's not a good idea to exceed weight limit. Officially, all limits must be observed.
Sometimes as well as a page with just symbols there are several pages with writing, often repeated in different languages, which refer back to the symbol page.
If a child is well under 4 then it is not a good idea to move to an adult seatbelt, even if they meet the height and weight requirements. Better to wait until over 4, which might mean getting a different seat.