Dear Zeca Rosa,
It is true that the microphone arrangement is an important factor for sound source localization by Measurement-based method (Recording TSP responses is required). It would be difficult to localize elevation of sound source with 2D microphone array such as TAMAGO. To work with sound source localization in 3D setup, we recommend using a microphone array whose microphones are three-dimensionally arranged if you can.
You can try Geometric-calculation-based method. Since recording TSP responses is not required, it would be worth to try to see how it goes. You just need to specify all elevations that you plan to use for sound source localization by editing Sound Source Positions XML file.
HARK Support Team