Help me understand the ending

He did make it back just in time. The reason he is with the girl at the bar is that with all he has had to deal with, he needed to talk to someone he trusted and was familiar with.
He spent 4 years only being to communicate with Minnie and felt most comfortable with her or at least her voice.

Please consider me as an alternative to suicide

He is able to be extracted just before Anthony dies because Anthony knows that Tom is going to want to visit the memory of him first seeing his daughter at the jail visiting room one last time.It is shown that he is back into his body in the scene where Tom wakes up with his wife and then his daughter comes in the room and holds his hand. He was with his wife and kid... The bar scene I believe is at least a couple days after. He chose to go to that bar specifically because "its nice to hear a familiar voice" and the bartender is the actress that did the voice of Minnie for his machine. Its kind of funny actually she has no idea that he has been interacting with her voice everyday for the last 4+ years. I would have to say that if I were in his shoes I would go to that bar as well and leave her a fat tip. I wouldn't dare try to explain why though lol