Yes, it is not a very log drive - I just did it last summer when my family vacation was interrupted by a 3 day work trip in the middle of the week :-( I had to drive from Estes Park to Denver, fly to San Jose and drive back to Estes Park. I don't think it took more than an hour to drive it.
Have fun! We love Estes Park and have been 3 times in the last 10 years and plan on going back next summer!