For heavier strength work - rest as fully as is possible / needed for you. Generally 3+ minutes minimum. I'm usually 3-5, 5+ for when things get heavy, or I'm on the last few of a large amount of sets.
For hypertrophy + assistance work - generally shorter rest periods, as you say, more stress, more hypertrophy.
Problem is I get an hour each morning for the gym. There’s only so many 3 minute tests before you’ve no time left. I just try and cram as much in as possible.
For heavier strength work - rest as fully as is possible / needed for you. Generally 3+ minutes minimum. I'm usually 3-5, 5+ for when things get heavy, or I'm on the last few of a large amount of sets.
For hypertrophy + assistance work - generally shorter rest periods, as you say, more stress, more hypertrophy.