One approach starts with finding the exponential generating function of the probability that we have a complete set of colors after $n$ draws. If you are not familiar with generating functions, you might find it useful to read the answers to this question: How Can I Learn About Generating Functions?
Let's say that $p_n$ is the probability that we have a complete set of colors after $n$ draws (not necessarily the least such $n$). Then the exponential generating function of $p_n$ is
$$g(x) = \left( \frac{1}{19} x + \frac{1}{2!} \frac{1}{19^2} x^2 + \frac{1}{3!} \frac{1}{19^3} x^3 + \dots \right) \cdot \\
\left( \frac{1}{19} 2x + \frac{1}{2!} \frac{2^2}{19^2} x^2 + \frac{1}{3!} \frac{2^3}{19^3} x^3 + \dots \right)^5 \cdot \\
\left( \frac{1}{19} 8x + \frac{1}{2!} \frac{8^2}{19^2} x^2 + \frac{1}{3!} \frac{8^3}{19^3} x^3 + \dots \right)
$$
so
$$g(x) = (e^{x/19}-1)(e^{2x/19}-1)^5 (e^{8x/19}-1)$$
If we would like to know the exponential generating function of $q_n = 1 - p_n$, which is the probability that we do not have a complete set of colors after $n$ draws, its EGF is simply
$$h(x) = e^x - g(x)$$
Suppose $T$ is the number of the first draw when we have a complete set of colors. Then
$$E(T) = \sum_{n=0}^{\infty} P(T>n)$$
(an identity which is true for any discrete random variable $T$ which takes on only non-negative values), so
$$E(T) = \sum_{n=0}^{\infty} q_n$$
Now we can take advantage of $h(x) = \sum_{n=0}^{\infty} \frac{1}{n!} q_n x^n$ and the identity $n! = \int_{0}^{\infty} x^n e^{-x} \; dx$ to show
$$E(T) = \int_0^{\infty} e^{-x} h(x) \; dx$$
Evaluation of the integral results in $E(T) = \boxed{28.7176}$.