This is when the campfire and a bunch of beer is an awesome solution, however in areas where fires are not permitted or on backpacking trips where you cannot carry all that beer I opt to just hike with a headlamp through the extra few hours. To do this without becoming too tired, I take longer breaks during the day and explore around without my pack when the sun is still up.

You could also bring a book and music player. I have an electronic reader that weighs less than a single book but holds hundreds and has a backlight so I do not have to waster excessive headlamp battery. Just have to make sure not to crush it in the pack.