Four feet will work. Some of the benefits of growing on a fence or trellis are obvious. Better air circulation, easier on your back, better/easier insect control, less chance of mold and mildew, and watering them is easier...etc.
Perfect fencing height depends on who is picking the vegetables. My wife stands five foot tall, so I don't run fencing over five foot tall for her. We do grow morning glories on a 7' tall fence, but they're flowers - not something you have to pick.
Something a lot of us don't think about is snakes and rodents like hiding in and under plants that cover the ground.
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