If you continue to have no symptoms, you can be with others after 10 days have passed from the date of positive viral test for COVID-19.
Most people do not require testing to decide when they can be around others. Here at YDSP Health Center, we DO NOT RETEST individuals who have continue to be a asymptomatic during their isolation period.
Source: https://www.cdc.gov/coronavirus/2019-ncov/if-you-are-sick/end-home-isolation.html; https://www.cdc.gov/coronavirus/2019-ncov/hcp/duration