I will look at how my trajectory is on the next flight. I haven't done a manual ascent in a long time, I have used programs to control the pitch for me so I can pay attention to other things during the ascent.
But the early pitch start, yes I agree with what has been aid 100%. The earlier the better, and pretty much start it as soon as you have established a good velocity vector upwards. One thing I remember aiming for was a pitch of 70 once starting the pitch over.
Once you see dynamic pressure dropping you can pitch down a great deal and really start to go fast. Once you get to that point it is just a matter of being the pilot and watching your apogee and your vertical speed to judge if your current pitch angle is too conservative or too agressive. Meaning, are you still soaring up hill at this point, or are you pitched too far down and are sinking back into the atmosphere?
I know for my XR-2 vertical ascents, I aim for a target 105 km for the turn. For the Space Shuttle, you can be further down around 90 or so and be alright. Anything lower and you will find yourself in more trouble than you need to be. Not unrecoverable, but that amount of drag will make working out the rest of the orbit just a bit more complicated.
Sorry I don't have more firm numbers to tell you such as "When reaching X Km do this", you just got to keep in mind the basic principles of what you want to do and how the pressure of the atmosphere changes as you go higher, then keeping an eye on the dynamic pressure, the apogee, and the vertical speed, you should soon find the sweet spot for what ever vehicle you are hand piloting up to orbit, and then of course try try try again and see if you can get better and better efficency.