It was for this very reason that man received the Torah and not Angels, because man, unlike Angels, has an externality, a hitzoniuth, that was created to clothe HaShem's inner essence, His Honor.
That's why the Angels says "ברוך כבוד ה' במקומו" - blessed is HaShem's [Name which is called] Honor in its place [within the externality of physicality]
(Noam Elimelech פרשת וארא)
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