So long as you don't arrive during the European arrival rush you'll be fine. Last week on a FRA-CLT, "customs was full" on arrival at about 4:45pm and they held us on the plane for 15 min, then I was greeted by massive lines for both visitors and citizens at immigration. Thankfully I breezed through due to Global Entry and no checked bags, then was through the D security checkpoint with TSA PreCheck immediately thereafter - plane to connecting gate was probably 15 min total. However, some likely misconnected or it would have been pretty tight.

OP is arriving late enough though that barring a delayed arrival of several inbound widebodies from Europe, they'll likely be fine.