An FHDRA can be the final hearing if matters are resolved during. It can happen, depends on dug-in the other side are, and whether or not they can be swayed by the judge on the day. Judges want cases resolved as quickly as practical, so they tend to prod a bit at the FHDRA. Unless there are formal safeguarding issued raised by CAFCASS, in which case the court has a duty to thrash those out before it makes a conclusion.