This is all controlled by the Start G-code in your slicer.
At this part, the printer just does what it is told. This could well include waiting for things to heat - but that’s what the slicer Start G-code has told it to do.
There’s some annotated Start G-code examples here that might help:
https://discourse.crc.id.au/t/improved-start-g-code-for-printers-cura-and-prusaslicer/55