Took Amtrak from DC to BWI last summer. The pick up is at the corner of the parking garage and is well marked. Chances are others on the train will also go to the shuttle stop. We waited about 5 minutes for the shuttle and it was about 10 minutes to the terminal. Most of the delay was due to traffic which was heavy in the area, the ride was about 2 miles in length I estimate.
I would assume the shuttle service knows when trains arrive and depart and would schedule around these times.
I ride a commuter train (MARC) out of Wash to WV daily from Union Station, DC. I heard this week that Amtrak is talking about a strike. I don't know the details, but you might want to google it to see if it will impact your trip. (Just a heads up)
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