I was wondering if when our bodies die and our essence goes into the existence between lives in human bodies, how long do we stay there for?
I mean is there a set time limit? A least and most time we can stay inbetween for?

This one I can answer.
Basically no there is no time limiton how long you stay non physical. There are dragons and various other beings out there who have never had a physical lifetime. They exist only in the astral.
And some who only come back to physical lives very rarely when they feel there is something that needs doing on the physical level.
There are even some that only ever borrow bodies for a while (walk ins) but there is no specified gap between moving from one body to another.

Zygo

that may also depend on what you believe your soul is. Angels for instance are believed by many to regularly stay there, whatever is beyond is their realm, being without a body is their natural form.

Many say the same for Demons.

As far as for how long one exists between reincarnation cycles, I would look into the different reincarnation centralized religions.

There is no such thing as time in the 'between' Rosa.
Measuring time is a human concept.

You simply stay there until you are either ready to, or want to move into another body and begin another existence.

Darkness.

As Darkness says there is no time there, your existence or non-existence there lasts as long as you want it to last, and if you are waiting to be ready for another incarnation then it takes as long as it takes.
But when you have forever why would you worry about how long anything takes?