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Lightmap density/shadow quality

In my small scene with one skybox and one stationary directional light, if I want to obtain the highest quality shadows should I be setting all meshes to Generate Lightmap UV’s ON and Min Lightmap Resolution as higher than 2048? Currently it looks like this with Lightmap Density rendering on. Should it be mostly red? I know that will be more expensive and take longer to bake, but that’s not a concern for me.