As it shows on this page from Larry Penn's web site, Larry Penn sings TIME TO GO on a 2-CD album he made with Utah Phillips called "May Day at the Pabst," recorded live at the Pabst Theater in Milwaukee, Wisconsin on May 1, 2006. cdbaby.com has a sample:

...time that whistle moans, it says to me:
"I'll take you back to where your soul is free."
There's something about the way that lady sings tonight.
Her raucous melody warms up the hobo night,
And I have not felt this way since I was....

"The Rose Tattoo 'Live': Trains, Tramps, & Traditions" is an album by Utah Phillips, Mark Ross, Bob & Diana Suckiel, Kuddie, Bruce Brackney, and Larry Penn. It also contains what I think is the same recording of TIME TO GO by Larry Penn, but the sample only included part of the spoken introduction.

Larry Penn's album "The Whiskey's Gone" contains a song called IT'S TIME TO GO which I assume is the same song, but I couldn't find a sample to confirm this.