I will run parallel Claude sessions when I have a related cluster of bugs which can be fixed in parallel and all share similar context / mental state (yet are sufficiently distinct not to just do in one session with subagents).
Beyond that, parallel sessions to maybe explore some stuff but only one which is writing code or running commands that need checking (for trust / safety / security reasons).
Any waiting time is spent planning next steps (eg writing text files with prompts for future tasks) or reviewing what Claude previously did and writing up lists (usually long ones) of stuff to improve (sometimes with drafts prompts or notes of gotchas that Claude tripped up on the first time which I can prompt around in future).
Spend time thinking, not just motoring your way through tokens.