Yeah, bosom buddies. God wouldn’t let Moses see the promised land over a procedure error.
Moses saw it from a mountain top (Mount Nebo, I think). But after that God took him (Moses) to heaven...so it wasn't a bad deal for Moses.
You probably have thought about this, but is seemed like an end to the Moses chapter of the Bible. He was very old at this point. And this was Joshua's time in the sun.;-)
God is laying the foundation for the coming of the Messiah. And soon (200-250 years) comes David, the first big step.