The best height is one which both allows the elbow/upper arm to fall freely from the shoulder, and allows the forearm to be parallel to the floor when the forearm and hand are in their natural shape -- the way they are when the hand is hanging at the side.
The best distance is one which allows our elbows to rest slightly in front of our center line when our hands are in a neutral position on the keyboard, with our hands in front of the elbows.
The video below displays good posture at the keys.
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