Depends on where you are and the variety of grapes that you're harvesting. pH is a big factor for most people, as if it gets too high, then your wine will be more susceptible to spoilage.
I've got a lot of Northern Hybrids, and I track TA as a harvest parameter. It also depends on what kind of wine you expect at the end. So yes, there really is no precise answer. I suppose one of the easiest answers is "When the grapes are ripe, and you have time to do it." A perfect combo of TA, pH and Sugar doesn't mean anything if you're not free to do the job.