"There are lots of genetic conditions but I believe the majority are noticed from birth."
I don't want to be unreassuring, but I don't think that's true.
DD1 is a case in point. To be fair, a midwife thought she looked like she had DS because she had a flattened bridge of her nose, but that was dismissed by the doctor. She wasn't then flagged until she was 2 years 9 months. She has 'something genetic', the geneticist is sure, but finding out what the 'something' is is like looking for a needle in a haystack.
She has global issues and goes to special school, but her delays were apparent only to me (my concerns were ignored as I was a first time parent) until she went to preschool.
In the special school my DD goes to, there are a huge number of children with no diagnosis.
The only way you could be sure that a child will not have GDD is if they reach an age where skills in each area stabilise without issue. So, for example, you can't say a child won't develop a S&L delay until they reach the age of 4, say, when a typical child will have speech and language that can be understood by anyone 90% of the time. Until then, they may drift from the 'normal' curve.
For gross motor skills, presumably they can't be deemed not at risk of any possible delay until they can walk, run, hop and jump as other children do. DD1 can jump now at 8, a bit haphazardly, but couldn't at 6. Most children can jump at 3 or 4.
Social skills...well it's usual to 'play alongside' until a child is around 3/4, so they wouldn't be considered delayed until they reach an age where most children play co-operatively, etc.,
Of course, that's quite simplistic, because children don't develop in a linear fashion and it may be quite obvious that something isn't quite right before they reach those ages.
The real difference is that 'disorder' means 'development out of sequence with the typical pattern of development', so that may mean developing 'normally' in some areas of a skill, but not developing other areas at all, whereas 'delay' means 'development that follows the typical development of children in that area but is attained slower/not at all'.