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While this depends on the type of asana and the capability of the person, a general rule of thumb says a minimum of 30 seconds for any asana. Please note that this does not apply for Surya Namaskara as it is more of a flow and hence positions are not meant to be held for any more than 1 second.
Sukham Sthiram or holding a position comfortably is what should be the goal for any asana. This means you should be able to breathe normally while holding that asana.
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