How to pick up the two kids separately?

Yaya had another fuss yesterday about me being in school too early. It was around 5pm. Of course she refused to go home with me, and went back to her classroom after the playground. Later while i was collecting Peter's dirty clothes, I heard she crying in the hallway--here we go again, she thought i left without her. Sometimes i just feel annoyed by this happening over and over again, and for her, it seems it is not possible to remember that"mommy will never go without you". But in a way, i can understand her, wanting to spend more time with her peers. On the other hand, Peter wants to go home as early as possible since after 5, there are not many kids in his room. My problem is, how can I get both kids home happily, since one wants early, one wants to stay late. So, when i discussed this problem with Yaya, she came up with a suggestion, "why don't you pick up Peter and go home then come back for me at 6 o'clock?" Oh, dear, even though it sounds like an idea, it is not so practical. If I get Peter and drive home, it will be sometime around 5:30, before we can settle down, we will need to head back to the daycare. And If there's a place I can take Peter too nearby the school, that will be it--but there's no such place. I have to figure out a way to consume near one hour somewhere near the daycare, because this morning, Yaya reminded me again that she wants to be picked up at 6 o'clock, not 5.