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"To preserve internet bandwidth and ensure that we are making the best use of global networks, you may experience intermittent availability of HD video during Zoom Meetings with 3 or more participants hosted on your desktop or mobile device. Standard video capabilities will remain in place. If you are joining using a Zoom Room or Conference Room Connector, HD video will remain enabled."
If you have a paid account, even just a pro account you can simply submit a support ticket to Zoom requesting 720 HD, and they will provide it for you. If you have a business or enterprise account you can request 1080 HD using the same process.
The paragraph you posted, although still out there, was necessary when Zoom usership was exploding due to the pandemic, and they had to preserve bandwidth due to the massive growth. That type of pressure is behind us all, and Zoom has also had time to scale their infrastructure to support many more customers.