You can wait for the element to be visible like so:
// Give this element 10 seconds to appear
cy.get('[data-test=submitIsVisible]', { timeout: 10000 }).should('be.visible');
According to Cypress's Documentation:
DOM based commands will automatically retry and wait for their corresponding elements to exist before failing.
Cypress offers you many robust ways to query the DOM, all wrapped with retry-and-timeout logic.
Other ways to wait for an element’s presence in the DOM is through timeouts. Cypress commands have a default timeout of 4 seconds, however, most Cypress commands have customizable timeout options. Timeouts can be configured globally or on a per-command basis.
In some cases, your DOM element will not be actionable. Cypress gives you a powerful {force:true} option you can pass to most action commands.