Bob prefers to drop you off in a way that you hike to him or your car, "Pick me up at xyz at around 6:00 PM" is either too vague or hard for the hiker to actually do. So as Hooch suggests, hike from Carvers gap to Dennis cove. The parking lot is only 1/2 mile from Kincora so you can get a shower before driving home. I'm 90% sure that Bob will shuttle dogs.
FYI: the falls of Mountaineer falls was moved (8'?) so that hikers can get a shower.
Have a good hike!