I've waited anywhere between 12 hours and a couple of weeks between layers.
I, for one, can't wait 24 hours - as I do all of my detailing on weekends. Typically, if I'm starting from zero, I'll clay/polish/AIO/SG the car on Saturday, finishing the SG in the middle of the afternoon. Then, I'll apply the 2nd coat of SG first thing Sunday morning (after wiping down lightly with a California Car Duster).
I've found the SG hazing that some have experienced once or twice, but a quick wipe-down with Sonus spray, and all is crystal clear. Considering that I've also gotten some hazing (during my first tries with SG) on the first layer, I don't think that the cure time had anything to do with it.
Now that I've used the SG for a while, hazing is no longer an issue. If I spot it while wiping off the SG, I just go over the haze area with the applicator again, then wipe the area immediately. This removes any hazing/streaking, and the finish is awesome.