If I understand you correctly, you now have time to walk in to town. Why not? The following is a google translation of the final entry stage into Pamplona, from the Eroski guide.
You will be able to check out the onward route in a few places - Caminoteca, the albergues - in fact, Casa Paderborn, the first one, is easily accessible, but remember that the following day it will be the furthest point on your way out. It isn't much, but this a tip for when you get to the location where you will stay - research the albergue or other lodging that will be nearest to the start point for the following day!
A kilometer and a half later we cross the Magdalena bridge over the Arga river. At the exit, on the left, is the detour to the Casa Paderborn hostel. The Camino continues to the right towards a passage regulated by traffic lights. We continue through the moat of the walls, specifically next to the Bastion of Our Lady of Guadalupe, to cross a drawbridge and the portal of France, from the year 1553. This leads to the streets of Carmen, where on the right sidewalk we have the private hostel Casa Ibarrola, and the Navarrería. At the end of the latter, the signs encourage us to turn left onto Calle de Curia, where the Caminoteca is located, a shop specializing in material and products for pilgrims. Then we turn right onto Calle Compañía, where the Jesús y María hostel is located
Buen Camino!