Do I have to stay for the whole of the cafe or can I just pop in at any point?
Just pop in! You can join or leave conversations whenever it suits you. Some people stay for the whole event, particularly online, whereas others will arrive late, or leave early, to fit around other commitments.
You also don't need to worry about attending every event, just come when you can, but do let us know if you aren't going to be there so we can be sure not to worry about you!