In Robot Framework, does any keyword in any library implement this? Open Browser and Go To just go to the requested URL but don't wait until the page document is fully loaded.
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Have a look at this discussion. You don't really need to wait for anything apart from Ajax. In case you are using Angular, have a look at extendedselenium2library that implements waiting for Angular actions with every keyword.
If you are not using Angular, but you know which Ajax action you expect will fire before you can proceed with your test, have a Wait Until Page Contains Element or Wait Until Element Is Visible keyword with a selector for an element that is specific for your ajax request.