How do you have a social life beyond 6pm?

Our LO is now 8.5 months and we have been timing all social activities around his nap times i.e travel during his nap time so he’s happy and playful at wherever we are.

We end up having to leave everywhere around 5.30/6ish so that we’re home in time for bedtime.

A friend of ours suggested letting baby sleep, transfer to car seat, let him continue sleeping, get home and transfer to cot so that we can stay out later