His purpose was to make in Himself one new man (the Church) out of the two (Jew and Gentile), thus making peace and in this one body to reconcile both of them to God through the cross by which He put to death their hostility. (Ephe 2:15-16)
The history makes it so clear. God and man simply could not dwell together. When they tried, man’s sin eventually drove God away, lest He destroy man. For a time He did OK as long as He kept Himself locked up in that little room they called the Holy of Holies. But all during that time, only one man, the High priest, could visit there and him only once a year and then only after great ceremonial preparation. Some say they actually tied a rope around the High Priest’s ankle so they could pull him out of there if he did anything wrong and God had to destroy him. Even that eventually failed and it wasn’t the kind of relationship God wanted with His children anyway.