I left 7 hours after my son's birth and was very pleased with the decision. I had 2 other children at home that I didn't want to be away from.
I'm not a good sleeper, even in my own home, but anywhere else, I do not sleep at all. And away from my children I can't sleep either. So it was better for me to go home. I've been lucky enough to not have any birth complications or feeding issues, so was comfortable with going home. I do wish I'd done the same with my other 2.