Struggling with prayer timing during a family outing

Assalamu alaikum, everyone. My parents are taking me to a restaurant to meet some of their friends, but the schedule is such that I might miss my prayer on time. Is it allowed for me to make it up later? Jazakum Allahu khairan for your advice. Edit: Shukran for all the kind and helpful responses. I'll try to pray at the mall, but there's a good chance we'll get home before the time ends, so insha'Allah if I can't manage there, at least we'll be back in time.