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It says "they worship me in vain." --- who are "they"? In Biblical context, it's the Scribes and the Pharisees, who were teaching the observation of the 613 Mitzvot. This has nothing to do with development of doctrine in Christ's Church under the guidance of the Holy Spirit.

How much of Jesus' teaching was not, at first, written down? A LOT:

John 21:25
Jesus did many other things as well. If every one of them were written down, I suppose that even the whole world would not have room for the books that would be written.

How much of that is the Holy Spirit going to teach us? ALL OF IT.

John 14:26
But the Advocate, the Holy Spirit, whom the Father will send in my name, will teach you all things and will remind you of everything I have said to you.

Is it's God's intent that we should learn from the Church?

Ephesians 3:10
His intent was that now, through the church, the manifold wisdom of God should be made known

Does Christ's Church have the authority to do this teaching?

1 Corinthians 12:28
And God has placed in the church first of all apostles, second prophets, third teachers, then miracles, then gifts of healing, of helping, of guidance, and of different kinds of tongues.

How does St. Paul describe the teaching authority of the Church?

1 Timothy 3:15
"...the church of the living God, the pillar and foundation of the truth."

This I know. For the Bible tells me so.

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Ephesians 3:10

His intent was that now, through the church, the manifold wisdom of God should be made known.

Here's the rub:

The RCC, headquartered inside the Vatican in Italy, maintains it alone is the church referenced here to the exclusion of other groups of believers in and followers of Lord Jesus Christ.

Problem is, unless one of us changes his/her mind, he/she will find out belatedly that he/she was deceived into worshipping another Jesus...not the Lord Jesus Christ, Who is the only Way we sinners can be reconciled to Almighty God.

There is no legitimate development of doctrine outside of the scriptures...

Mar_12:38 And he said unto them in his doctrine, Beware of the scribes, which love to go in long clothing, and love salutations in the marketplaces,

Your religion changed that doctrine, didn't it???

Rom_6:17 But God be thanked, that ye were the servants of sin, but ye have obeyed from the heart that form of doctrine which was delivered you.

Rom_16:17 Now I beseech you, brethren, mark them which cause divisions and offences contrary to the doctrine which ye have learned; and avoid them.

1Ti_1:3 As I besought thee to abide still at Ephesus, when I went into Macedonia, that thou mightest charge some that they teach no other doctrine,

Jud 1:3 Beloved, when I gave all diligence to write unto you of the common salvation, it was needful for me to write unto you, and exhort you that ye should earnestly contend for the faith which was once delivered unto the saints.

The bible has all the doctrine there ever will be...

John 14:26
But the Advocate, the Holy Spirit, whom the Father will send in my name, will teach you all things and will remind you of everything I have said to you.

Is it’s God’s intent that we should learn from the Church?-——————————————————————————
Jesus was speaking to his apostles, since his apostles are the ones who started the Church, what did they add to what Jesus said in the Gospels?

It was quite a few years before the Gospels were even wrote and was through the power of the holy spirit.

If there were any thing else needed then why don`t we have a record on it?

John 14:26
But the Advocate, the Holy Spirit, whom the Father will send in my name, will teach you all things and will remind you of everything I have said to you.

That is exactly what happened other wise we would not have the word of Gods son through the Gospels.