tert-Butyl esters are easy to deprotect with 50% TFA in DCM at RT. See Org. Synth. 2005, 81, 235.
If you have a low MW ester, e.g. methyl or ethyl you could consider refluxing in TFA and if the reaction is not complete, concentrating under vacuum and dissolving the residue in TFA and reacting again (i.e. distilling the TFA ester out).