There is no minimum age: your pet’s DNA is the same from birth, so the test is equally valid at any stage of life.
Testing early has advantages. Many inherited diseases do not cause symptoms until adulthood, and knowing your pet’s genetic profile allows you to discuss it with your vet before symptoms appear or breeding decisions are made.
For puppies and kittens:
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If they are still nursing, keep them apart from their mother and littermates in a warm, quiet place for the 60 minutes before sampling, so that their mouth contains no milk residue or saliva from other animals.
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If they are very young or nervous, you can wait a few weeks. What matters is a calm sampling process and collecting enough saliva on the swab.