For my trip to Macau I didn't leave until noon time and arrived shortly after 1 o'clock. The queue wasn't too bad though and the attendants aboard my 'TurboJet' boat actually handed out the immigration arrival cards while en-route so I didn't have to fill anything out once arriving in Macau.
Anyways the terminal is not all that big so you can't really get lost. There are some restaurants on the top floor, some small shops near after where the immigration checkpoints are, and of course the ticket booths for getting a boat back to Hong Kong.
For myself since I was only there for the day, I simply walked out of the terminal and got a taxi. (which wasn't too expensive) to the main sightseeing area (St. Paul Ruins) and only took about 10 to 15 minutes to get to and from this terminal.