Dry to the touch is all you need for most paints yummy
The can should have a re-coat time on it
Probably between one and four hours
But generally, if you've got good temps and low humidity, you can push that quite a bit
If it's just barely dry to the touch, and still too early to re-coat, you'll know right away when applying the second coat
The new wet paint will activate the previous almost dry coat, lifting and pulling it, and generally turning into gookie globs
If that happens, just walk away, wait a while longer, fix and re-coat it later
High humidity, low temps, and deep colors (lots of slow-drying solvent based tints) can slow the drying time quite a bit