Mumbai CST or Thane to Bandra terminus?

I will be arriving from Mangalore to Mumbai CST with family and luggage on sunday at 11.30 AM. Has to catch Ajmer express (3.30PM) from Bandra terminus. Can I get down at Thane railway station (10.45AM) instead? Can Thane autos enter Mumbai area? How much taxi/auto charges from CST and Thane to Bandra Terminus? I prefer CST, but if train arrives late (it is coming from Konkan route) I have to take chance at Thane. Is there good restaurants near Thane /CST stations?