I run a tracer and it’s not really a do it all bike, if u build it up light it doesn’t really suit it so most folk myself included run it a bit heavier with 36’s and slighty heavier wheels etc,
I here the yeti asr5 is a good bike but havnt ridden one, but from what you describe u may well be better suited to a 575 or maybe a dw 5 spot, a little burlier than the asr but not heavy,
p.s
at 6ft it prob depends on how u like ure bike to feel but a medium would be a tad small