Yes.
The Ark was the very Presence of God. No, it didn’t contain Him, but His presence went with it.
The presence of God was manifest in the man, Jesus Christ, now exalted as King of Kings and Lord of Lords - He was the Messiah and is so eternally.
The presence of God is now in His ekklesia, the body of
Christ, which has little or nothing to do with what the world thinks is the Church.
It will never again be manifest to the Ark.
I personally believe that either the Ark will be hidden forever or God removed His presence from it as He did from the Jewish temple for their rejection of Him as their Messiah.