Turns can be commenced (beyond 5 degrees from centreline) as follows:
From FAR:
Height (above Departure End of Runway - ft) v Maximum Bank Angle (degrees):
No turns below 50'
50' < h < 100' maximum bank 15 degrees
100' > h > 400' maximum bank 20 degrees
h > 400' maximum bank 25 degrees
So when flying an average jet performance aircraft, with automation standard bank angle of 25 degrees (or 30 in LNAV) turning at or above 400' makes perfect sense