Either is idiomatic.
We tend to like more readily visualizable distances, an inch before a foot, a foot before a yard, a yard before a mile. But we also tend to like smaller numbers and roundwhole numbers. We would be more likely to say 5 feet than 60 inches, but 18 inches rather than one and a half feet.
Between three yards and nine feet, I suspect it would be some of one and some of the other.