Can I go to my synagogue and "hang out"?

I live a 2hr bus ride from my synagogue and it’s such a hassle to go 4hrs for a 1hr service. I love synagogue but I’m going crazy riding the bus this much on my days off. So the question itself is: do you think it’s possible/is there a precedent to go earlier in the day, help out or keep to myself, and then daven and leave?

I know I’d ultimately need to ask my rabbi to find out, but I was just curious if anyone knew the halacha behind this or if they do it themselves.