How is he after his nap? I would probably try keep to dinner, bath bed but if he's really playful/happy after dinner I'd perhaps let him play a bit longer than usual then do the bath then read a couple more stories before bed time IYGWIM. So don't stress if he's not in bed by 7.30 but I'd still try get him to bed by about 8 and see you how you go..
My DS is older than yours but he sometimes falls asleep on the way home in the late afternoon (yesterday he napped from 6 - 7 in the car

) but I usually find that he is still tired at "bedtime" anyway. Last night he was still in bed by 7.30 and slept all night