i would wait atleast that. its hard to nail down a time since environmental conditions will change this. its really no different than clearcoat so best thing to do is if you can gently press your fingernail on it and it marks it then so will tape over time.
I would say 24 hrs. is pushing it. Most flattened colors or clear tend to dry slower than gloss. There is no fixing the matte color without respraying if it does happen to tape track. I would wait 48 hrs. inside, or at least get it it in the sun a few hours if you need to tape it quicker.