So do you recommend that the first ship turn back immediately (if Dutch) and rush a couple of well-chosen immigrants? Starting the first city with four colonists offers potential to really kickstart it, as you could have lumber/carpentry from the get-go. I'd think it would make up for the lost time.
I guess it would make sense if the selection on the Docks is decent, say if you were able to bring back a Seasoned Scout and a Statesman, that would certainly kickstart things. It depends on a lot of variables though. Apart from the selection on the Docks, how far away from land are you? If you're able to unload in one turn, then return on the next, I usually unload the units and build one or even two cities immediately.
If you're on Explorer or above, you don't have any gold for recruitments, so heading back immediately doesn't seem like an option. There are ways of getting recruitments early though. A typical start for me would be to unload units, build city, pick up guns and tools, sell those to the natives, buy whatever they have in store, head back to Europe and recruit as many colonists as possible. You achieve a lot of things by such a start:
1. Production starts immediately.
2. Earn gold (for recruitments) and trade points (for Minuit) by selling guns and tools.
3. Earn even more trade points for selling the goods you bought from the natives - bringing you even closer to getting Minuit early.
How do you usually start?