Well, according to the calculator I found
HERE, I'd say 4-6 feet (I'd go closer to 6', due to the lower internal friction of the Tygon)... It seems people have good luck with the calculations in that spreadsheet, but YMMV.
Personally, I didn't feel like dicking around with tuning line length, and went with what I knew would work for probably 99% of my carbonation/serving pressure needs. I bought a 50' length of the tubing, and cut it into quarters (12.5' each). I coiled the excess line to the same diameter of a keg, and used 2 zip ties to keep each coil together. Each coil of line sits atop it's respective keg.
I currently run 12psi, and have a reasonably fast fill time, with no excess foaming.