I think that principle I've heard before called "1, 2, 3, abstract"; as in, wait until you see it at least three times before considering extraction.
I'd also add - wait until the code is 'stable', i.e no longer under active architectural development, connected only to other stable parts (or with stable/authoritative interfaces) and having then existed in such a state for a continued period of varied usage. then refactor.
I'd say this is sound advice for core components of the system, but we may want also to consider the types of the dependencies. For example, I would not wait for three times if the dependency is some kind of external system (DB, UI, Network, MQ, OS, Library, Framework, or the like) which is volatile in one of the worst ways - not directly under your control, unlike your own source code.
I'd also add - wait until the code is 'stable', i.e no longer under active architectural development, connected only to other stable parts (or with stable/authoritative interfaces) and having then existed in such a state for a continued period of varied usage. then refactor.