once you establish a stable FG, there is no need to wait more than ~24-48 hours to get it off the yeast and start working on packaging your beer (bottling, kegging etc.).
There is no good rule for when this happens - could be 5 weeks, could be 5 days.
If you are interested in clarity, I would cold crash prior to transfer - cool it to 30-35F and keep it there for a day or so, add gelatin and keep it there for another day or so.
You could let it just sit but by doing so, you are slowly oxidizing your beer. I am convinced that with almost any type of airlock (and especially if you are using a bucket!) your beer is undergoing slow oxidation so that while a day or so may not matter, a week or two will make a great deal of difference.
Cold-crashing can introduce quite a lot of oxygen to the beer as well, so you have to do that right (ideally by cold-crashing in keg or flushing it with CO2).