"Waiting for beat two" is a widely accepted performance practice in drumset playing.
When the drummer ends a phrase and moves to a new section with a fill (and plays a cymbal crash on beat one), the full drumset groove often does not resume until beat two. (There are exceptions.)
As a percussionist, you can take advantage of waiting for beat two. When you encounter that musical moment when it is a challenge to make that logistical change (a good example: switching from shake tambourine to congas), you might be able to buy yourself another half second or so by waiting for beat two.
Listen carefully to make sure it works with both the drumset and the overall phrasing.
It's surprising how that extra moment can make the difference between an awkward thrash and a smooth transition between instruments.