Finally did this lol. Heights approximated through screenshots from the game. Link's height determined by The Bread Pirate on youtube.
Link = 158.4 cm, 5'2"; Zelda = 168.73 cm, 5'6"; Daruk = 251.26cm, 8'3"; Revali = 170.45cm, 5'7"; Mipha = 143.41cm, 4'8"; Urbosa = 218.44cm, 7'2"