If you're spraying urea, most uptake occurs within the first few hours. Therefore, applying in the evening will maximize the amount of time that it stays on the grass blades since it will dry off more slowly. If you can do it when it's humid out, then it's even better due to prolonged drying times. I have never been able to find anything that says a foliar application of urea needs to be watered in afterward, so whether you really need to do that is unclear.