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I wonder why God asked images of Angels to be made? and for the Arc to be venerated then?

Interestingly enough, however, the Ark was hidden from view of the people during its actual "use" and then only the high priest actually saw it. No one was supposed to even touch it.

I would also argue that it wasn't the Ark itself that was "venerated" although it was considered sanctified, holy, set apart for sacred use. When the Israelites sought to "venerate" it by taking it into battle thinking it would bless their efforts, they were soundly routed and the Ark was taken as part of the spoils of war.

When the Ark was recovered, the celebration is worship and thanksgiving to God for His mercy, not an elevation of the Ark.

Additionally, OT rituals and worship were shadows of what was to come in Christ, but Christ is the substance, the exact image (icon) of the invisible God (Col 1:15). I think it's difficult to justify veneration of images based on tabernacle or temple worship. Hebrews tells us that the tabernacle was a reflection of heaven, so the images there represented veneration given to God who met His people in that earthly place.