You're missing something. Muir has already called and sent the suicide bomb before Bishop and the doctor made it there. And that's why at the moment the doctor made it to the front door of the building, the suicide bomb truck almost made it there at the same time.
Remember the big beard guy told Muir "the Sheik could be leaving in an hour or 10 min". So it's not like Muir really had that much time to wait. It's just in the movie they have to switch the scenes back and forth so you can get the dramatic message. It's not that long in reality.
The point is, Bishop was late and he was lucky that he could even make it at the last second. It was highly possible that the Sheik could have been gone. (you can also see that he is ready to leave the building). So it would be too late to switch to plan B if Muir actually waited till Bishop told him at the last second that "Sorry we didn't make it", especially for a long term operation like that.
BTW, Bishop's mobile phone was not like the ones we're using nowadays. It might have connection problems and Bishop had to focus driving anyway. And obviously Bishop didn't even bring it with him when he left the car and escorted the doctor to the final checkpoint. The way Bishop does things is over-confident and reckless sometimes and it's shown too many times in the movie.
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