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As late as possible is the safety-based recommendation.
Potentially, I'd use kiddo seating comfort as a guide. If / When they really complain about being uncomfortable in the seat facing backwards, and you have a sufficiently long drive coming up, I think it'd make sense to turn the seat around. Recommendations were always saying that seating discomfort in a back-facing childseat is only just that, and not a safety issue.
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