In the RSelenium reference manual, you will find the method setTimeout() for the remoteDriver class:
setTimeout(type = "page load", milliseconds = 10000)
Configure the amount of time that a particular type of operation can execute for before they are aborted and a |Timeout| error is returned to the client.
type: The type of operation to set the timeout for. Valid values are: "script" for script timeouts, "implicit" for modifying the implicit wait timeout and "page load" for setting a page load timeout. Defaults to "page load"
milliseconds: The amount of time, in milliseconds, that time-limited commands are permitted to run. Defaults to 10000 milliseconds.
This seems to suggests that remDr$setTimeout() after remDr$navigate("...") would actually wait for the page to load, or return a timeout error after 10 seconds.