Asking this question of all scripture involves a study of God's progressive revelation. At different points in history we find a different answer but not because God has changed. No, God reveals himself and his will progressively at times.
There was a time when Adam and Eve were able to worship God face to face, without a sacrifice or mediator. But following the fall, the right place of worship became an altar, erected at places where God made himself known. In Leviticus God restricts sacrifice to the Tabernacle, later it will be restricted to the Temple in Jerusalem.
But in John 4, Jesus reveals to a questioning Samaritan woman that all of these instructions have led us to a place of true spiritual worship, through God's own Son.
This sermon explores God's progressive revelation concerning right worship.