Help With MS SQL Query - Employee Adherence

I am trying to calculate employee adherence and have two tables in SQL, 1 table is for the employees daily schedule, the other is the times they actually take their scheduled items.

Scheduled Table contains the following fields

Employee Name
Scheduled Task
Starttime
EndTime

Times Taken table contains the following fields

Employee Name
Task
StartTime
EndTime

I want to try and pull data so it shows like the attached file, is there any way of doing this?

also in the query calculate the difference in minutes between the scheduled start time and taken start time and scheduled end time and take end time.  If there isnt an task scheduled then it would be the time between the taken end time and taken start time.

Thanks for the help