Is it permissible to wait for a gathering to eat and then approach them uninvited?

Primary text

It is not permissible to intentionally await the time of their meal to approach them uninvited to eat with them. This prohibition is established by the command of Allah the Exalted: 'O you who have believed, do not enter the houses of the Prophet except when permission is given to you for a meal, not awaiting its preparation' (Quran 23:53), meaning, not waiting for its cooking or readiness.