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I'm answering in sections so to try and keep the responses from being so long.

YHWH is an unapproachable light.

YHWH is NOT unapproachable. We are supposed to call upon Him, pray to Him. Our line of communication is open at all times. It isn't like there is an on or off switch. Id you mean can I touch Him right now? Nope. Can't reach and touch Yehoshua either. Yehoshua tells people to pray to YHWH/Our Father, Yehoshua did NOT tell us to pray to Yehoshua. Why would Yehoshua tell people to pray to YHWH/Our Father if YHWH wasn't approachable through prayer?

Jeremiah 29
12 And ye shall call upon Me, and go, and pray unto Me, and I will hearken unto you.
13 And ye shall seek Me, and find Me, when ye shall search for Me with all your heart.

2Ch 7:14
14 if My people, upon whom My name is called, shall humble themselves, and pray, and seek My face, and turn from their evil ways; then will I hear from heaven, and will forgive their sin, and will heal their land.

YHWH is an unapproachable light.

I was referring that no living man can come into YHWH's presence and live, and even more so, Moshe only partially witnessed YHWH's Glory from the cleft in the rock... not even the Priests in the Sanctuary were able to minister when YHWH Glory filled the tabernacle. Although there is an instance when the people witnessed YHWH's glory in the passage from Deuteronomy below.

In the NT we read, referring to YHWH: "who alone is immortal and who lives in unapproachable light, whom no one has seen or can see. To him be honor and might forever. Amen. I Timothy 6:16

And in the Old Testament:
Exd 40:34 NIV - Then the cloud covered the Tent of Meeting, and the glory of the LORD filled the tabernacle.
Exd 40:35 NIV - Moses could not enter the Tent of Meeting because the cloud had settled upon it, and the glory of the LORD filled the tabernacle.
Deu 5:24 NIV - And you said, "The LORD our God has shown us his glory and his majesty, and we have heard his voice from the fire. Today we have seen that a man can live even if God speaks with him.

We are undoubtedly permitted to approach YHWH through prayer, and come before His presence, but not face to face.