If it's out of small claims court then yes, it can drag on for over a year. They can also appeal the decision.
That said, not many agencies are actually going to show up in court when they not only know they owe commissions but know you can prove it. They would have a very hard time obtaining counsel.
Also, you're suing them - not the other way around. They'd have to decide whether it's worth their costs to go to trail over just paying you what's owed.
In fact, if their position was "fine, we'll be there" they likely know:
A) Can't prove you're owed the money
B) You're not owed the money.
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