Different waxes have different curing times but most will say on the pot how long they shuold be left.
However different times of year will change all that as in hot weather you will need to remove sooner where as in colder weather you can get away with leaving longer.
The swipe test is always a good indicator.
Apply wax to a panel and when you think is is ready to be removed do a swipe with your finger, if it smears it needs longer, if it removes the haze it is ready.

Hope this helps