To confirm, is your account verified? In order to upload videos longer than 15 minutes, the account needs to be verified by phone. Here's how to verify your account: https://yt.be/help/1qGj . Learn more here: https://yt.be/help/Ktr9 . Hope this info helps.
Appreciate your efforts. Higher resolution formats render more slowly. Hence, the availability of HD may take a bit longer than other resolutions. For future reference, you could try uploading the video as unlisted and make it public once that resolution is available.