At those higher altitudes they are trivial for radar to detect, and from farther away too. They are adapting cheap commodity used marine radars to get this done in some places
I suspect the Shaheds are going higher to mitigate AA ground fire. Higher up you have to send a missile or interceptor up.
It’s a trade off.
And interceptors are more expensive than Shaheds. A $100k interceptor (guessing here) to shoot a $10k Shahed can be an acceptable deal for the side launching the Shaheds.