It's been a very long time since I've done any FR recording on my Pannys. My hdd model E85H died a few years ago, leaving me with an ES30V, EZ47, & EZ48, which went out on me last year. There are 2 involved options for getting the best SP or close to SP quality if you can handle it. This is of course, based on using those models, I have no experience with the E95.
The first option would be to babysit the recording, and fast forward the tapes while dubbing to the hdd or RAM. Set the FR length for at least 2hr 20min for wiggle room, and fast forward thru the pledge breaks. And in case you weren't aware of this, you can pause recording during FR (at least on the EZs), so changing the tape won't burn up any time. When finished, snip away the fast fowarded pledge breaks, and you should end up with a recording that can fit onto a single disc or RAM.
The second (time saving-but still involved) option, is to go for a recording that will be less than the 2 hr SP mode picture quality, but slightly higher than the 4hr LP mode. Set FR mode for 2 hrs 40 mins, and play the tape...FF thru a couple of pledge breaks on the first tape (to ensure the rest can fit so you can leave it unattended, coming back to swap the tapes out. Edit out the breaks, and you'll have a recording that'll fit on a single disc. Depending on the quality of the tapes, and the tv you'll be watching on, you may not notice the difference between a pure SP or higher than LP mode recording.
If you feel like getting fancy, and depending on the transition from the end of the 1st tape to the start of the 2nd, for procedure#2, you could record the 2nd shorter tape first, then switch to the second, ff-ing thru a couple of breaks. You wouldn't have to sit thru the entire thing this way. Then use the Playlist feature to construct a playlist for dubbing to disc. You'd place the start of the concert first, editing out the breaks, and then place the last part after it. Umm. the E95 can create playlists, can't it?
Just a couple of ideas to throw your way. Someone else may offer a more streamlined and accurate way to get what you want done.