6 seconds is a bit too much, but waiting for a second to three is fine, incase some guy is running through the red light.
I've been tboned before in the exact scenario and everytime Im the first car, id rather wait a second to go after making sure the intersection is clear.
Hate on CVT all you want. It is I waiting on manual transmission lazily shifting though gears as I am at a constant rate of acceleration. Then anymore CVT will accomplish better MPG.