There are issues here with the real height of impact. If you use the word 'lower' as your description of the serve it may screw things up.
This camera view shows why the racket strings rise for the kick serve. To single frame on Vimeo, go full screen, stop frame, hold down the SHIFT KEY and use the ARROW KEYS. Side camera views are also needed.
Slice Serve
Kick Serve
Compare the kick & slice frames - shown there as thumbnails to represent the video.
KICK SERVE at IMPACT. From the back camera view, the arm appears straighter up. From the side camera view, since that kick serve video was made, I realized that the arm and racket tilt forward at impact, (that tilt is not well shown is the camera view from behind).
SLICE SERVE at IMPACT. From the back camera view, the arm is tilted more to the right. From the side camera view, the racket appears about vertical. The racket has risen so that the forearm to racket angle is larger.
All these angles affect the appearances of the height of impact from various camera views. It is very cumbersome to describe in words but the angles can be seen with two orthogonal camera angles. The behind and side camera views work well. Suggest that you always view from these two camera angles before drawing any conclusions. The server is spinning around in the middle of all that and simplifies things with words such as 'lower'. It is 3D and there are very few true verticals.
The racket head rises at high speed and we can see when the elbow straightened and all other motions, including ISR, occurred relative to that racket rise. For the kick serve, the racket head continues to rise as the strings push on the ball. For the slice serve, the racket impacts the ball much closer to the highest point that the racket head ever reaches, the upward component of string velocity is much lower than for the kick serve. This is very incomplete and important things are left out.
Now look at the video carefully and you must see where the spin of the kick serve comes from and the joint motions that give the high speed upward motion to the racket head.