I've always kept my cat food on top of the refrigerator or counter to keep the dogs out of it, but we got a kitten a few years ago that wouldn't go up and get it. He still cowers and shakes if I put him on a table or counter. O_o
I don't know, but I don't think any of my cats have ever been afraid of heights.
It could be because that is the first time he was up there.
It is probably rare that cats are afraid of heights.