We had the first reservation time at Palo as we were on way to Key West and I am pretty sure we were only there about 1 1/2 hours...it depends on how long you want to stay...you can stay longer, or leave a bit earlier...I do not think you should have a problem.
If you let your wonderful server know your plans....I am sure he/she will do everything possible to get you out on time!!
MJ