The amount of rest needed for battery voltage to level off with all loads and charge sources removed, where it is truly representative of state of charge, can vary widely with many factors contributing.
Small parasitic loads generally are not too significant unless you have a DMM capable of 4 decimal places and you stress over the 2 last digits.
Surface charge after a charging source is removed generally screws up peoples estimation of SOC more so than time to rebound when removing loads.
Voltage settling to represent true state of charge will take different amounts of time between batteries and on the health of the battery, as well as between different makes of batteries, temperature, how big a load or charging source was, ect.
Moon phase, atmospheric pressure and the possible presence of Locusts too
Generally 2 to 3 hours is close enough, but the longer the better.
The more observations and the more tools one has to measure amps and volts, the better one is able to estimate state of charge, and notice degradation in battery performance as it accumulates cycles.
A battery monitor is a wonderful tool, but unless it is rezeroed when the battery is known to be absolutely fully charged, can throw off accuracy of them too, and they should not be considered 100% accurate even then.
Also the oft posted voltage/State of charge charts are not accurate for each and every battery. If your battery manufacturer posts such information, then that is the figure to use.
Trojan publishes expected Specific gravity readings along with voltage to represent state of charge, and this is confidence inspiring, as there is a lot of marketing mumbo jumbo literature written by people with little understanding of the product they are marketing. They like to use impressive words to inspire confidence.