The rudder is the tool to track centerline, the ailerons the tool to keep wings level during rotation.
The ultimate end goal is to make a rotation absolutely wings level. For this you need correct aileron input from the start of the rotation, with nose gear still on the ground. How much? After 80kts, slowly increase control wheel deflection untill rudder deflection "amplitude" is minimal. You will still be "kicking the rudder" to track your centerline, but the kicking will be very very minimal.
If you fly the B737 just try it. Correct aileron reduces required rudder for centerline tracking.