Initially I had the same problem. Yet, you may do it very easily if you begin counting your rhythm a bar before you need to trigger outro
1-2-3-4-B[/B]-B[/B]-3-4-stop.
You calmly press pedal on (1) and (2), outro is played on the rest 3 and 4.
If you need to play most of the outro, you can
1-2-3-B[/B]-B[/B]-2-3-4-stop
If you need to completely queue the full outro, you can do set Queue Period option to something like 50% or 66%, and do
1-2-B[/B]-B[/B]-1-2-3-4-stop