From when doesn’t baby has to stay at Nicu?

Ju

I know this question probably doesn’t have one right answer. But I was just wondering. I know from 37 weeks on baby’s are considered full term and most likely can go home immediately (if baby and mother are healthy). But what about 35 and 36 weeks? And earlier. I’m 33 weeks now and I wonder what would happen if baby comes earlier, for example at 34 weeks. Does he necessarily needs to stay at the NICU or is there also a chance that if baby conditions are good he can come home. Are there guidelines on this?