One thing I ask from the LORD, this only do I seek: that I may dwell in the house of the LORD all the days of my life, to gaze on the beauty of the LORD and to seek him in his temple.
Another masterpiece of David. He identifies this one thing as a desire for which he makes clear is dependent on the Lord. The Arc of Covenant sat in the temple and was the dwelling place of God. Access to Arc was restricted only to the priests. Even David the king didn’t have a mandate to venture the presence of God, he had to go through the prophets and priests. Fast forward to post crucifixion. The splitting of the Temple’s veil meant we now had access to personally go to God without the human intermediaries. To desire this same thing as David would be an error for the new testament believer. You indeed have that access, God's not residing in an arc or in a temple. You carry him in your Holy body and can seek him anytime and anywhere.