Man does not get to pick and choose how to worship God. The Bible says that God is a Spirit and man must worship Him in spirit and in truth. This is why church is not about the individual--it is to be all about God.
David had a great and noble idea to bring the Ark of God back to him in Jerusalem. So, they made a brand NEW CART and set the Ark of God on it. God clearly said that the Ark was to be carried on staves (Exodus 25:14) but it seemed to be much easier to put the Ark on a cart where the beasts bare the load and burden.
In this case, God showed His displeasure by killing a man for his error. We have no reason to think that Uzzah was sent to hell for his error, but God took His mercy away from him because He touched the holy thing.
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