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It should work just fine with a higher-resolution lidar, but possibly not out-of-the-box. Like most nodes in Autoware.AUTO, the ray_ground_classifier has a handful of parameters to configure and we currently do that through a YAML file. You can see an example here: https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto/-/blob/master/src/tools/autoware_auto_avp_demo/param/ray_ground_classifier.param.yaml

Since the node is designed to avoid dynamic memory allocation, you can set a max size for each of the output point clouds in the pcl_size parameter. You'll also want to set the classifier set of parameters to match your sensor mounting configuration for proper segmentation. Hope this helps.