Deu 5:8 Thou shalt not make thee [any] graven image, [or] any likeness [of any thing] that [is] in heaven above, or that [is] in the earth beneath, or that [is] in the waters beneath the earth:
Does Jesus not reside in Heaven?
To your question: ““Go therefore and make disciples of all nations, baptizing them in the name of the Father and of the Son and of the Holy Spirit, teaching them to observe all that I have commanded you; and behold, I am with you always, to the close of the age.” (Mt 28:19-20)”
It says “I am with you always” So I guess the three persons in one (Father/Son/Holy Spirit) can both be in heaven and with us all the time. I think God can do things like that because he made the rules, spoke the Word to bring all about and Made Man from the Earth.
Remember, even Moses and Aaron had 'images' in the form of the Ark of the Covenant, and used it in their worship, all apparently approved by God, who told them how to build it.
Jesus is the new 'Ark', and we have statues and paintings to remind us of him. We know those images are not Him, but we use them in our worship, just as Moses and the Hebrew people used the Ark of the Covenant in theirs.
God the Father himself set aside this precept at the Incarnation. Jesus is the image of the invisible God, says St. Paul.