There is more than one way that this text could be translated, but the word “worship” is simply the word for “bow”, and so when it says to bow before the footstool of His feet, it is saying to bow towards the Ark.
It's clear you are making that up to justify your false interpretation...
and so when it says to bow before the footstool of His feet, it is saying to bow towards the Ark.
The context is to bow at the throne of God where He sits which is on top of the Ark...NOT to bow to in inanimate object...