Penelope

Eumaios takes a different approach to inform Penelope:

Thus the herald and the good pig herder met on the same errand, to tell the news to the lady. When they came to the house of godlike Odysseus, the herald Medon spoke in the midst of the female slaves: "Even now, my queen, your son has returned!"

Caterina Murino as Penelope in the Serie Odysseus by Frédéric Azemar

Odussey Book 16 line 130-135 Barry B Powell

Then the pig herder went close to Penelope and spoke all that her son had instructed him to say. When he told all of that he was commanded, the pig herder withdrew from the hall and its enclosure, and went of after his pigs.

Meanwhile Telemachos' ship has arrived in the harbour and the gifts he has brought back from Pylos are taken to Klytios' house, close to the city harbour, which would've been where the village of Vasiliki is today. A herald is dispatched to the palace.

So, Eumaios and the herald both went to the palace and arrived at 10:10 to deliver their message to Penelope. The female slaves overheard Medon's message, the suitors would come to know it a few moments later. From Vasiliki it's a 30 minute walk to the palace, so Medon would've left Klytios' house at 9:40, which means Telemachos' ship would've arrived at about 9:30. Eumaios sets off to return to his pigs at roughly 10:20. On his way back he makes an observation.