There's no such concept of waiting or even writing your own waits (like with Selenium) in Cypress. Cypress has this built in.
I recommend reading their docs, it's one of the core concepts mentioned here https://docs.cypress.io/guides/core-concepts/retry-ability.html#Commands-vs-assertions
The point here is, you write something like:
and Cypress queries the DOM and tries to find
.my_element, if it succeeds, it goes on to the assertion, if it fails, though, it queries the DOM again, and again, and again until it times out (timeouts could be configured, read about it here: https://docs.cypress.io/guides/core-concepts/retry-ability.html#Timeouts and here: https://docs.cypress.io/guides/references/configuration.html#Timeouts)
You should be aware of the fact that not every command in Cypress is retried, for example
cy.click() is not retried, cos you obviously want to click only once. On the other hand, even
cy.click() has its own timeout, it waits until an element becomes actionable. The point is, you have to do nothing (again unlike in Selenium) to make sure the element is actionable.