The 3M sealer takes a LOOONG time to cure because it has solvents deep inside that will escape over time but most should be gone in about a week of warm temperatures IF it was applied thinly. If you apply a "good" sealer on top of the 3M sealer you will trap the solvent in the 3M and it could cause problems later so try to have a pretty dry 3M sealer before you apply the good stuff or remove the 3M sealer. We use Fusor on almost everything that needs a good seal, it adheres well, remains flexible and will outlast the car.
We rarely use undercoating for the same reason we don't use 3M sealer, most are solvent based and get brittle, crack and trap moisture against the metal. About the only thing we've heard that works good as an undercoat is either 2 part truck bed liner or Fusor spray seam sealer. We usually apply another coat of Zero Rust after our sealer and leave it at that.
If you have wide gaps to seal the Fusor sealer below can do a great job.