High resolution camera for Raspberry Pi 4

Hi there,
I have a USB camera shield and an MT9J001 camera. On Raspberry Pi 4, using the ROS node, it won’t work with any higher resolution than 1280x720.

How to best increase the resolution? I don’t mind a slower frame rate, '4ps is fine.
Should I get a USB3 shield (I have the Rev D)? Write a ROS wrapper for the c++ driver?

Or should I buy another camera model and if so, which one.