Figurative language is really any sort of language where the words mean more than they at first seem to. Since all poetry uses language at maximum intensity, figurative language is a feature of all poetry - not just one particular style.
In Alexander Pope's "Eloisa to Abelard" (an Augustan poem) Eloisa is writing from her convent to her former lover Abelard. She writes:
"I have not yet forgot myself to stone."
This is figurative language, it is a metaphor (in an Augustan poem).
In Wordsworth's "She dwelt among th'untrodden ways" the poem opens:
She dwelt among th'untrodden ways
Beside the springs of Dove;
A maid whom there were none to praise
And very few to love.
Again this is figurative language (hyperbole in this case), but in a Romantic poem.
So all poetry uses figurative language, it is not characteristic of only one genre.