the orbit distances of other planets is so closely linked to the AU that measuring the one is often linked to measuring the others:
==quote Wikipedia "AU" ==
Jean Richer and
Giovanni Domenico Cassini measured the parallax of Mars between
Parisand
Cayenne in
French Guiana when Mars was at its closest to Earth in 1672. They arrived at a figure for the solar parallax of 9 1⁄2", equivalent to an Earth–Sun distance of about 22000 Earth radii. They were also the first astronomers to have access to an accurate and reliable value for the radius of the Earth, which had been measured by their colleague
Jean Picard in 1669 as 3269 thousand
toises. Another colleague,
Ole Rømer, discovered the finite
speed of light in 1676: the speed was so great that it was usually quoted as the time required for light to travel from the Sun to the Earth, or "light time per unit distance", a convention that is still followed by astronomers today.
==endquote==
The "solar parallax" is basically the angular size of the Earth as seen from the sun, or more precisely the angular size of the Earth's radius.
So if you know that angle, and the Earth's radius, you can calculate our distance from the sun.
If the solar parallax angle is α then the ratio of Earth radius to AU is cotangent α
So if the angle, in radians, is 1/22,000 then the distance to the sun is about 22,000 times the radius of the Earth.
Cassini and Richer measured the distance from Earth to MARS, by parallax from two locations on Earth, and this allowed them to calculate the Earth's distance from the sun, i.e. the "solar parallax" and also incidentally they would have been able to estimate the distance of Mars from the sun.
It seems to me that astronomers must have had some rough idea of the distances of other planets from sun, compared with the AU, for a long time maybe as far back as Copernicus. They knew some rough proportions, ratios. They just did not know the astronomical UNIT very accurately.
Kepler had to have fairly good estimates of orbit distances in order to come up with his 3/2 power law. that the semi major axis of the ellipse is the 2/3 power of the orbit period. (using Earth orbit units).
He had to struggle to get his estimate of the Mars distance because its orbit is so elliptical but the other ones were probably not so hard. After all there is a kind of parallax you get by observing the planet's position when the Earth is at different spots on its orbit, where the baseline is in terms of the AU.