You can do it online
The other answers are accurate. I'd budget 30-60 minutes with an online appointment. This time might increase if you need to upgrade your license to either the Real ID or Enhanced versions with the new air travel requirements, so do some research on that before you go.
With appointment, it should not take take long. You have to apply before it expires.
It doesn't take long if you make an appointment online, and if you go to office go early. Apply anytime before your license date is up.
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