Firing naval guns as the ship reaches the right angle

Did naval gunnery wait for a ship to be at the correct angle before firing?

Yes, but within a predictive solution: the guns fire for the target’s future position while the system times the shot to the ship’s movement.

Gunnery solutions aim at where the target is expected to be when the shells arrive, not where it is at the instant of firing. The director and guns are first trained to the calculated bearing and elevation. Late mechanical fire-control computers also incorporated the firing ship's motion through an accelerometer or equivalent input. They could then wait for, or anticipate, the correct roll and pitch angle before sending the firing signal.