That might be a bit tricky if you are planning to leave Surlingham Ferry that late in the day. As far as I’m aware the only mooring options in the Norwich direction are Bramerton Common (but that’s just around a couple of corners away from Surlingham Ferry and anyway, I would expect it to be full by the time you will be passing), The Water’s End pub (just beyond Bramerton Common), the Commissioner’s Cut which is just before you get to Thorpe (only space for about three boats though), Whitlingham (again, not that many spaces) and Norwich Yacht Station. (Anyone know if they take reservations?)
I’d think I’d be tempted to stay at the Surlingham Ferry or set out in the opposite direction.