Short answer, yes. Ronda isn’t that large. The main sight is the 1700’s “new bridge” and that’s what most tourists go to see. Ronda has one main street that runs through town, so 4 hours is sufficient to have lunch and see the bridge. You can also walk down into the gorge to get better views of the bridge. There is a parking lot “parking el Castillo” by the town hall/ayuntamiento de Ronda. Other sites include the Old Bridge, Arab baths and the bull ring, but they are not essential to visit. If you could squeeze another hour into the visit you wouldn’t be rushed at all. Although it’s only 64 miles to Sevilla’s you’ll need every bit of the two hours you allotted to get there because most of the drive is rural roads. If visiting during the summer months it will stay light until 9pm or so.