As United States has decided to take the confrontationalist route, time is ripe for such a test. India doesn't makes the 12-14k ICBM solely because of the potential reaction of USA. It made ICBM's capable of hitting most of Europe only by taking the cover that it is making that to tackle China (Lulz) and China has repeatedly told the world that the actual range of our Agni V is not 5k km but much more, but definitely it won't reach USA.
So it should be made under cover and tested when the world is in chaos and we are not having the best of our relations with US, that is the situation like as it is now....
Should have already planned this out.
Like relation with US won't slide much more in such a case, rather on the upside maybe US can think we have to take India along or something else, like jo hua so hua, they will reasses their policy for the time being.