Last week, we got to Hellesylt around 08.00 I think, and back on board time was 16.00.
Outbound ferry was 09.30, 12.30, 15.30, and return 11.00, 14.00, 17.00 (there is a website: https://www.norwaysbest.com/things-to-do/fjords/fjord-cruise-geirangerfjord/ ), so your only option was to get the 9.30 ferry out, and 14.00 ferry back, for around just over 3 hours out in Geiranger.
Stavanger sommat like 09.00 to 16.30, Haugesund 07.00 to 17.30 I think and Olden can't recall atm.
We did the Loen skylift booking from Olden tourist office, expensive at £70 each (for three, shuttle bus is a crafty markup considering not far to travel lol), but that still saved £19pp than with P&O. Worth it if good weather though.