I agree with JeninTexas that unless you are seated without delay, skip courses, and eat very fast, it's highly unlikely you'll be done at CRT in time to see the FoF parade. I would allow 90 minutes for CRT at a minimum, assuming you're seated on time.
I watched the parade from the FP+ reserved viewing area in October. Based on my photos, it arrived about 12 minutes after it stepped off (3:12 pm) and was finished about 12 minutes later (3:24 pm). So I would say the last float clears the castle area and is on Main Street no later than 3:30 pm.