Do you have a link showing that HID does not use differential sgnaling methods?
To be exact, your initial post asked for the "requirements of Wiegand Card Data Reader cable", not HID, although you requested their comment.
The standard Wiegand wiring interface does not define any differential signaling. It's a 3 wire serial, running at 5V to achieve distance.
The Wiegand interface uses three wires, one of which is a common ground and two of which are data transmission wires usually called DATA0 and DATA1, alternately labeled "D0" and "D1" or "Data Low" and "Data High". When no data is being sent, both DATA0 and DATA1 are pulled up to the "high" voltage level — usually +5 VDC. When a 0 is sent the DATA0 wire is pulled to a low voltage while the DATA1 wire stays at a high voltage. When a 1 is sent the DATA1 wire is pulled to a low voltage while DATA0 stays at a high voltage. The high signaling level of 5 VDC is used to accommodate long cable runs from card readers to the associated access control panel, typically located in a secure closet. Most card reader manufacturers publish a maximum cable run of 500 feet. An advantage of the Wiegand signaling format is that it allows very long cable runs, far longer than other interface standards of its day allowed.
Perhaps HID can use differential signaling, but only between its own equipment, when auto-detected? I am still looking for confirmation of that.
But I stand by my statement that running a common ground, non-differential signal, such as standard Wiegand, on UTP will underperform that of a shielded cable.