I always wait 24 hours unless I am in some sort of hurry. I'd wait 4 hours min just to make sure that it is cured around the cap... I hate rushing it when its an oil pan...
i waited 30 mins and drove for about 30 mins after that. it doesnt leak a drop. i was at my friends house and it was 12:00 AM so i had to go soon. if i had to do it over again i would have let it sit overnite