The piston is still on it's way up when the inlet valve opens.
For optimum performance, the inlet valve will be opened as soon as the inlet manifold pressure at the valve seat is higher than the exhaust manifold pressure at the valve seat.
This presupposes that the situation won't suddenly reverse and that the induction stroke is about to start.
The point varies greatly with engine speed.
Back to the OP
I don't know, but I think it will vary with manifold designs, rod length to stroke ratio, cam timing, engine speed.
I would GUESS it is around about maximum piston velocity
Regards
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