Last mid-afternoon pickup I did at Haneda recently was a Sunday afternoon about the same time as your planned flight. Yes, it was very busy, but my guests were all through in around an hour. Actually 65 minutes - slightly longer than I was expecting as it is usually 40-60 minutes, but their flight was an hour early and dumped them into a bunch of other arrivals.

My recent entry via HND T3 was in late Jan around 2pm on Sat. With QR codes the line was much faster and shorter. It took less than 10 min to go thru' immigration and less for customs. The bottleneck was waiting for the luggage - with priority though.

Those w/o QR code using paper forms had to line up in separate lines/channels, as far as i recall.

It was my 4th time using it since the border has reopened. I highly recommend it.

Thank you so much!