I think you are right to harvest now. I'd say don't wait too long or they will have decomposed and over-retted but those stalks look very beautiful for fiber processing. I have been working with milkweed fibers for six--maybe even seven?--years at this point and only this year feeling like I am figuring it out.
Some milkweed is wiry and hempy, other milkweeds are extremely soft like pure white shining cotton, and many are in between. The wiry milkweed is milkweed that is still full of the resilient gum, the "milk", and this
milk is decomposed by various sorts of bacterial action, or sunlight. But it seems like it has to be exposed to the air as far as I understand. (Maybe that isn't right--I
should try
water retting again with some dried unretted milkweed. All I know is that fresh stalks tend to unhelpfully retain their rubbery bark when water retted.) Many milkweeds are also subject to a sort of fungus that decomposes the bark but can leave some grey patches on the fiber. Maybe these can be bleached naturally? As far as I understand it, the longer the milkweed is exposed to the sun and the rain, the less black staining it gets, and the bark and rubber are decomposed in a way that leaves it especially soft and fluffy. Well retted milkweed is shorter than length than other bast fibers, and very soft.
I had some success with a technique called "wind retting":
https://permies.com/t/264445/Wind-retting
But harvesting late winter or early spring spring (i.e. right now) should also have good results for a bit less work.
I think that milkweed should also soften with use as time goes on. It might be prudent to make sure there is
enough twist in the fiber.
One question to ask is do you need to cultivate milkweed at all? In my region I am guessing that enough fiber is growing wild, that everyone could wear milkweed and
nettle clothing without much cultivation of any fiber plants. And since there aren't likely many other people making milkweed textiles, you may not have much competition with your harvesting.