Crossing through Pamplona...
Hmm. It is not something I would recommend on those dates.
I have a fair amount of experience of being in the city at those dates, though as a guest, not as a pilgrim.
Put all the above comments into a sieve and make up your own mind.
Ask the people in the albergues, I mean the locals, in the days before you are due to reach Pamplona.
It could be prohibitively costly, financially. The best idea perhaps that you have already received is to sleep in Trinidad de Arre the previous evening, and that would give you just about 5km to reach Pamplona so you could be there early enough in the morning to pass through during the day, savouring the sights that you have researched, and then continue at least to Uterga - but book ahead, do book ahead! There are two albergues there at least, the one I know is on the left as you go into Uterga, and was perfectly adequate. Bed, laundry, food. If needed, there is another in Muruzabal, and I think it has a pool
and the following morning you could detour to Eunate - not really a detour, but it offers a chance to visit a most beautiful octagonal church. Our Lady of Eunate. From there, do not retrace your steps, follow the remaining few kilometres on the route to Puente La Reina. Do let us all know how it turns out for you.