There are usually two boats running so if the ride is 10 minutes there should be a boat arriving about 10 minutes after one leaves the dock. Turn around at the dock is usually about 5 minutes.
As for total time. I would plan a minimum of 15 minutes for the internal bus to get you to the Outpost stop. Add 5 minutes if going to MK by boat to walk from Settlement stop to the docks. Once you get to the Outpost stop to transfer buses you need to
budget at least another 30 minutes for waiting and travel time.
Basically I would budget 45 minutes to get to any park from FW, at a minimum.
As a general rule I plan on 30 minutes per leg of a trip and that is just to get to the park entrance.