Visits ending too late

Thanks for the suggestions ... the doctor idea is good, but sadly he goes to a horrible clinic (I am not allowed to switch him to another doctor) and there's no way they'd do it, they are very rude and we get treated like garbage. I usually take him to urgent care when he's sick. I have tried already telling them over and over he HAS to be home at 7. Their response is basically, "Not possible, too bad." I have no power, it's not like I can say, "Well, too bad for YOU, I'm going to show up at the visit at 6:30 and haul him home." I also brought up Friday evenings, but they refused that too. Hopefully they will rule for TPR soon and we won't have to suffer through all this much longer ... :(