A given muscle group typically needs roughly 48 hours before another hard session, though this varies with volume and intensity. You can train other areas in between. Persistent soreness, poor performance, and low motivation all suggest you need more.
Muscle protein synthesis is elevated for roughly 24 to 48 hours after a training session in most people, and the elevation is shorter in trained individuals than in beginners. Training the same muscle again once that window closes is a reasonable way to think about frequency, which is why training each muscle twice a week suits most people.
Within a session, heavy strength sets generally need two to five minutes, hypertrophy work one to two minutes, and power work full recovery so every rep is fast. Cutting rest to save time turns strength work into conditioning.
An upper/lower split or a full-body schedule with a day between sessions handles this automatically. If you train six days a week, alternate the emphasis so no muscle group is hit hard on consecutive days.
If your working weights are lower than last week, if soreness has not cleared by the next session, or if warming up takes noticeably longer than usual, extend the gap. If sessions feel easy and weights are climbing, the recovery is adequate. More on interpreting these signals is in Recovery Science and Adaptation.