Using an enhanced optically heterodyned optical Kerr effect method and a theoretical description of the interactions between an optical beam, a single layer of graphene, and its substrate, we provide experimental answers to questions raised by theoretical models of graphene third-order nonlinear optical response. In particular, we measure separately the time response of the two main tensor components of the nonlinear susceptibility, we validate the assumption that the out-of plane tensor components are small, and we quantify the optical impact of the substrate on the measured coefficients. Our method can be applied to other 2D materials, as it relies mainly on the small ratio between the thickness and the wavelength.