None of those was a depiction.
And none of the things you mention could be viewed by the people because they were specifically put in the ark where they could not be seen. And even the ark was covered by cloths and skins when transported so nobody could look at that. One item not placed in he ark was the bronze serpent Moses put on a pole - and why was that later destroyed by King Hezikiah?
(2) The Shroud is NOT a depiction (in the sense of an artist's rendition.) It is a biochemical result, a physical evidence.
(3) Our faith does not rest on this physical evidence. It rests on the Word of God. However, Christ spent 40 days after His Resurrection giving people physical evidence: His own physical body alive. <
St. John starts his Gospel with something utterly transcendent (the Word which was from the beginning), but begins his first Epistle with his testimony that this Word is "what we have seen with our eyes, what we have heard, what we have looked upon and touched with our hands." (1 John 1:1.)