My son is 10 months old, and he eats 3-4 times/day, and the only meal he eats with us is breakfast. His other meals are on his own schedule. I think scheduled eating and "waiting for mealtime" can and will come later. I think it's more important that he knows he can eat when he needs to, and that he can stop when he is full. I think the same thoughts could apply to your daughter.
Can her snack at daycare either be larger to tide her over, or can it be pushed back, until 4:00? Can you give her a light snack on the way home from daycare, so she's not ravenous when she gets home?
Otherwise, you may just need to feed her dinner right when you get home. She wouldn't be eating with you, but you could feed her leftovers or something you've prepared for her the night before: chopped up fruits and cheese, pasta...
My son eats his last meal of the day around 4:30-5:00. He gets a snack before bed, and then he's in bed at 7:00. Once he's in bed, my husband and I sit down to dinner and relax. Maybe this sort of schedule could work for you.