The reality is that plaster is very hard once it has been completely filled with water. It is very hard after 24 hours of completion. It is hard enough to walk on it, to brush it with a nylon brush. No harm will be done to it. Stainless steel brushing (if needed) should wait a few weeks.
I believe one reason why some think that it is too soft at first is because when a vacuum rolls over the plaster surface it sometimes leaves a line or wheel mark. I am sure that isn't because of indenting it, but because it packs down the plaster dust underneath where the wheel traveled. (Therefore, always brush after vacuuming). It actually ends up as a raised deposit of calcium scale along the wheel path. There is no way that vacuums and cleaners indent a plaster surface.
When I used to plaster pools, I simply told my customers to wait two days for the water to be chlorinated and filtered properly. No good reason to prevent customers from enjoying their new pool longer than that. That would be the "safe" recommendation.
But just between me and you, my kids and I always jumped into our new plaster pools (three times) once it was full of water. In fact one time I walked down the pool slope in my socks to remove some leaves that blew in before it finished filling. The concern about that is be sure to have dry socks and not have any moisture or sweat on the socks, because sweat is acidic and that will cause a footprint to be left on the plaster and will show up long after the pool has been filled.