Many beat frequencies of inaudibly high frequencies are audible. If you are recording a live orchestra, you'll capture those beats, so you're OK. Many of us record instruments separately, and if we don't capture the inaudible frequencies, the audible beat frequencies are never generated; never heard.
I've never heard a recording of brushes on cymbals that sounds convincingly like live brushes on cymbals.
It probably doesn't matter, though. We've been conditioned to listening to music that has been mangled by mics, pre-amps, amps, speakers, and venues. We very seldom hear music right from the instruments that make it, and even those instruments are optimized to emit audible frequencies. It may be like
even temperament. It's wrong, but we're used to it. I even LIKE it. It is very nice to hear a Barbershop quartet hit a natural scale dominant 7th, but I've come to rely on that slightly ooky feeling I get from an even tempered dominant 7th in my compositions.
To be responsive to the question, I use 96/24 for live vocal groups, horn groups, string groups and some synths; 48/24 for amped groups and single recordings that will be mixed to form the group. I may just go to default 96/24, since it doesn't seem to exact any great cost with my equipment and technique. I do remember the fiasco in which I climbed a large learning and equipment curve to go 7.1 192/32, only to find zero market for the product at my level. As has been said, if your audience is 128 mp3, just relax. ;)
I apologize for the use of the word "ooky" in this post...damn...twice now.