When to wipe off grout Haze

So I just finished my first tile job and grouted it. I got most of the grout off with the float then smoothed the joints with a sponge while getting some grout off. What I can't seem to find a clear answer on is when to wash off this grout Haze. I've read as little as 3 hours to as long as 3 days. Most of the how to is pretty similar, thinking I'm going to try vinegar and warm water sponge with 2 buckets, but how much longer do I wait? It's been 24 hours right now.Image may be NSFW.
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