About 2 days after being poured is my usual wait time for PR. Which is about the time they go from a more solid thud sound to a bright, tinny clink. I don't know of another way to describe it but that's how I've been doing it with no issues. Of course, this is not a scientific approach at all. If they're still tacky when they come out of the mold, I will set them in the sun to heat up and finish curing.
Again, not scientific at all