Behold, I send an Angel before thee, to keep thee in the way, and to bring thee into the place which I have prepared. Beware of Him, and obey His voice, provoke Him not; for He will not pardon your transgressions: for My name is in Him. Exodus 23:20-21
Who is this One, this One called “Angel” in these verses. In the verses which follow He would be like hornets to those who opposed Him and His people (v. 28).
This One was named by Stephen in Acts 7:30 as an angel who spoke in the burning bush (Exodus 3) and He calls Himself “I Am”.
It has been said, by more intelligent, and Biblical scholars; that you can see Jesus on every page of the Old Testament; and I believe that is true. Jesus Christ the Son of God is also God the Son.
Jesus in His pre-incarnate Person was with the children of Israel as they journeyed through the wilderness.
Since He came as Man and died on the cross for the sins of the world, and was buried, and He rose again for our justification, then we can know God, with the forgiveness of our sin, being born again becoming His sons, and inherit all that is His.
He is called Immanuel [God with us], may we who name that holiest of all names, live like Him.