Visits ending too late

So I totally get ALL of the frustration. We started mid-week visits and are requiring the kids be no more than 20 minutes from our house and home an hour before bedtime so we can get the bedtime stuff done. They are having visits at a nearby library. Mom also tends to load them up with sugar an running around so we explained to her that shouldn't be how it goes. What about Friday evenings? We did that a while and it wasn't as stressful.