When should an EMHC approach the altar?

As an EMHC, do I need to wait to approach the altar until the priest has consumed the blessed host? I read on the GIRM that we do, but when I asked our Pastor, he said after the sign of peace, come on up. Who do I listen to??? Everyone else just walks on up and sanitizes their hands, greets one another while the Lamb of God is being said. It seems very disrespectful.

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