The absolute minimum is ~20-25 GB free space, and as a rule of thumb you should aim to have 15-20% of your total internal storage as free space. Terminology is important here – free space is not the same thing as available space. The one that matters is Free space, but what macOS shows in most places is Available space. Available space includes both free space and ‘purgeable’ space, the latter comprises system caches, snapshots and other data that macOS can delete if it decides more free space is needed. However, there is no way the user can force those data to be purged.
The place to check how much Free space you have is in Disk Utility (in Applications > Utilities), by selecting the main container disk below the drive itself (you may need to select View menu > Show all devices to see it). For example, on my M4 MacBook Pro, the Storage settings pane and Get Info on the internal drive show 1.24 TB of Available space, whereas Disk Utility shows there is 1.15 TB of actual Free space, 90 GB less than ‘available’. Although 90 GB is a small fraction of my 2 TB internal storage, that would not be the case with 256 GB or 512 GB of internal storage.

Note that you can also see the Free space in the System Report (System Settings > General > About > System Report button, at the bottom > Storage).
Some steps to take to safely free up space:
Free up storage space on Mac - Apple Support
Optimize storage space on your Mac - Apple Support
How to free up ‘System Data’ and other st… - Apple Community
in your case, you are fine for now with around 50% of your internal storage free. But to quote my own User Tip, "Parkinson’s Law can be generalized to suggest demand always expands to match supply. In terms of your computer’s internal storage, that means at some point, no matter how much available internal storage you selected when you bought your Mac, eventually you may find that your drive is getting full and you need to free up space."