Pump gas is oxygenated, so instead of straight pure liquid fuel, you're pumping a slight foam into your tank. If you fill your tank from empty, the pump's shutoff will be tripped by the foamy liquid reaching the nozzle. But, the fuel will settle over time, after which you can top off and fill the rest of the tank.
Of note, when Ford did that one-tank mileage test with the 3.7L, they did this to put as much fuel into the tank as possible.
Don't Top Off Your Gas Tank! | Mid-Atlantic Air Protection
For a full tank fillup on a road trip, I could see waiting 5 minutes and adding about .5 gallons or so. I wouldn't mess around with the remaining ~half gallon, if only for the reasons in the link above. I bet if you try that test again, you can do it at a slower rate (if the nozzle has multiple notches for flow rates, set it lower instead of max or if it doesn't and you have the time/will, slow fill it manually) and you'll get more fuel into your tank next time. ;]