I don’t really think there is a generalized, proper etiquette to it, but I totally get what you mean. I have also felt that pressure to get in, do my shit quickly, then get out, but I found I was just going to the wrong places or going at the wrong times.
I found a few Different places near me that I feel like I can stay for varying amounts of time.
One place is super quick: in and out, no frills, no staying, quick.
Another one I will stay for a quick bite, maybe a little chat, but I wouldn’t work there because it is way too busy and I know they want tables turned to keep people happy.
Another one I will sit and vibe at, maybe read for a while but it is super quiet, so I don’t want to work because I don’t want to be too loud.
The one I work at is a good level of congregating, reading, working, conversations, etc. I feel most comfortable there and I have never felt like I’ve overstayed my welcome. there was even once I stayed there for 6 hours.