Use ElementHandle.waitForSelector with the xpath prefix.

Wait for the xpath within the element. If at the moment of calling the method the xpath already exists, the method will return immediately. If the xpath doesn't appear after the timeout milliseconds of waiting, the function will throw.

If xpath starts with // instead of .//, the dot will be appended automatically.

This method works across navigation

const puppeteer = require('puppeteer');
(async () => {
const browser = await puppeteer.launch();
const page = await browser.newPage();
let currentURL;
page
.waitForXPath('//img')
.then(() => console.log('First URL with image: ' + currentURL));
for (currentURL of [
'https://example.com',
'https://google.com',
'https://bbc.com',
]) {
await page.goto(currentURL);
}
await browser.close();
})();