TFA appears to be following the conventional wisdom when it describes "Higher Ground" as a "reincarnation meditation". But while it seems Stevie Wonder did himself connect the song with ideas about reincarnation, at least tentatively
https://en.wikipedia.org/w/index.php?title=Higher_Ground_(St... , the one thing which the lyrics really plainly make reference to is Apocalypse 22:10-12
https://www.biblegateway.com/passage/?search=Revelation+22%3... :
> And he saith unto me, Seal not the sayings of the prophecy of this book: for the time is at hand. He that is unjust, let him be unjust still: and he which is filthy, let him be filthy still: and he that is righteous, let him be righteous still: and he that is holy, let him be holy still.
> And, behold, I come quickly; and my reward is with me, to give every man according as his work shall be.
Which admittedly is an slightly odd fit with the sense of having himself been given a second chance and a change of life which SW expresses in the song (and apparently in the NYT interview), but so it goes apparently.