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It says "they worship me in vain." --- who are "they"? In Biblical context, it's the Scribes and the Pharisees, who were teaching the observation of the 613 Mitzvot. This has nothing to do with development of doctrine in Christ's Church under the guidance of the Holy Spirit.

How much of Jesus' teaching was not, at first, written down? A LOT:

John 21:25
Jesus did many other things as well. If every one of them were written down, I suppose that even the whole world would not have room for the books that would be written.

How much of that is the Holy Spirit going to teach us? ALL OF IT.

John 14:26
But the Advocate, the Holy Spirit, whom the Father will send in my name, will teach you all things and will remind you of everything I have said to you.

Is it's God's intent that we should learn from the Church?

Ephesians 3:10
His intent was that now, through the church, the manifold wisdom of God should be made known

Does Christ's Church have the authority to do this teaching?

1 Corinthians 12:28
And God has placed in the church first of all apostles, second prophets, third teachers, then miracles, then gifts of healing, of helping, of guidance, and of different kinds of tongues.

How does St. Paul describe the teaching authority of the Church?

1 Timothy 3:15
"...the church of the living God, the pillar and foundation of the truth."

This I know. For the Bible tells me so.

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