I loved well those cities, I loved well the stately and rapid river, The men and women I saw were all near to me, Others the same—others who look back on me, because I looked forward to them,
There are some strange things going on with verb tenses in this poem. Now the speaker is talking about himself as if he were in the future with us.
He is, in essence, delivering his own eulogy.
He felt close to all the people he saw, and even to us future generations.
(The time will come, though I stop here to-day and to-night.)
Here's a very mysterious line. "The time" for what will come?
He seems to be anticipating some time when he will be close to those future people, and the present moment is just a stopping place. In short, time is no obstacle to the speaker; he just chooses to be in the present.