It depends on the show. I know for Chopped, the judges are allowed to taste while the contestants are cooking, and immediately after as well. The dishes are kept warm until the on camera tasting which can be 30 minutes later or more. On Iron Chef, the contestants finish only one of each dish they make during the one hour contest, for the camera. Then they have additional time off camera to finish four more of each plate to have it ready just in time for judges tasting.
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