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There are no hard and fast rules for when to publish a package, but there are a few important things to consider. Your repository looks pretty tidy, you've already got a licence and some examples so could be ready to publish.

Do you expect the API or command line interfaces to your utility to change in the foreseeable future? Packages are expected to be maintained with the same interfaces with deprecation warnings being added before functions are removed. If your package is still in the development phase where these things are being altered then it's probably not time to publish it.

Have you got any feedback off any other users using this? It's always good to get a second pair of eyes to look at (and try and break it) before publishing it officially. Maybe another user reading this question may have a use and will do this for you.