Koraput is near by, its 3 hr 45 min journey. It can be like this
Same time at GNT till YLM, then speed up make
MAIN STOPS
VSKP - 6:00 - 6:15
VZM...
more... - 7:18 7:20
RAYAGADA - 9:35 9:40
KORAPUT - 13:00 13:45
RAYAGDA - 16:15 20
VZM - 18:15 18:18
VSKP - 19:30 19:55
from there same timings.
This is possible