We waited just over a week with our first for visitors, pre-planned and I don’t regret it, nor did I need to call any grandparents whilst I was sobbing on my knees. I wish we would have waited a little bit longer because I was quite poorly from birth (I had a bit haemorrhage), and just wanted to focus on my baby, breastfeeding well, and my recovery. My husband didn’t want to spend his short paternity leave passing his baby to relatives either. It worked well for us, and I would absolutely support anyone in having no visitors for a while after birth. Adding covid into the mix makes these precautions even more sensible.
Any intrusiveness as this stage, would have made me push back further.