I have no idea how long to do the hike. My wife doesn't let me make those estimates anymore since I "always estimate way too low." But it's only about 2 1/2 miles from the Visitor's Center (I'd hike via Condor Gulch Trail).
The 95 feet does refer to route 536. If I recall correctly the combination of diagonal movement and the trail dropping down to the left makes it a little too long to do a yo-yo TR on route 535 with a 200 foot rope. Can you bring a 70 meter rope?
The base of the route is The High Peaks Trail, and there isn't a lot of width there other than the trail. Plus it stays shady much of the time because there are big rocks on both sides of the trail. So hanging out right at the base of the main face won't be ideal, but it won't be terrible either. On the other hand, there's more space, sun and views only a few feet north from the start of the 5.0 route.
If you're there on Saturday there's a very good chance I'll be walking by on my way to/from a new route we're thinking about starting in the area. Keep an eye out for a six foot tall old guy with a large and faded purple pack.