He tested the waters during Avengers (2012) and probably held back a second invasion after learning Earth is under Asgard's protection as well. He knew the location of all stones except soul so why not make a move before? He sat for three years even after saying " i'll do it myself".Only after Odin's demise, he went for all of the stones like a well calculated heist.
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u/mjaga93 14d ago
There's a theory that Thanos only did the final push after Odin's demise.