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TL:DR The left model seems to be the cutscene/High in-game mode, and the right one the low in-game one
this idea is neat otherwise though
Yes but sadly there isn't a cutscene version for every unit in the game, only few select units got a higher detailed model. It would look incredibly weird if some units were much more detailed than others.
I know swapping out unit models for different or higher poly ones should be feasible with the tools out there, the end of the trailer has an example of that (Alfred the alpaca is replacing the bella unit model there).
You should be careful when editing animations as you cannot simply replace them. Animations are stored in .brg files. Another thing that is stored in .brg files is the lenght of the animation, if you change that the game might OoS. Especially when you changed an attack animation.
It's not true that no one knows how to convert those models. Ykkrosh had made a one way converter for gr2 models to 3ds by using the granny.dll shipped with the game. I have also been looking into this and been able to figure out some more, but I and others don't see the worth in the effort. The game would look weird anyway if you have only a few models in hd.
I see that the rad game tools site isn't even online anymore. I think the software is very out dated and no one really uses it anymore. Maybe you can find some old crack version somewhere of the game tools out there. Or maybe you devs can implement another more usable format than grn that also supports skeleton animations like Collada DAE e.g.