We didn't stay too long after the show, but a lot of people lined up near a side door. I'm assuming it was for pictures and autographs from cast members. Your best bet would be to go to the theater at the end of a show. Our 7 p.m. show got out a little before 10 p.m. Hopefully that helps.
The characters on the street have nothing to do with the Broadway show. They're just people in costume and you tip them a few bucks for the pictures.
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