For us it was the same day, in the hospital. We were there for a few days each time and it was nice to pass some time.
I had forceps and a postnatal infection, baby was jaundice and also had an infection. Some difficulties establishing feeding, but we welcomed family visitors in the hospital and couldn't wait to share our babies with them.
It also meant there was no rush once we got home as everyone close to us had already visited.
I think there is a balance. Some people, IMO, get on their high horse before they've even given birth and end up alienating those closest to them.
Some start sharing passive aggressive Facebook posts about giving new parents space etc and not wanting anyone to even breathe near their baby for months.
Some are happy for immediate visitors, some need a few days or couple of weeks to adjust.
It depends on the nature of the birth, the health of the new mother, the health of the baby and when they are discharged and have settled back at home.