God, however, postponed their entry for their own good. Acquiring Torah required both separation from pagan contamination and intimate connection to God. Yet they rebelled and split up when they confronted difficulties and delayed gratification. Infighting, bad kings, corrupt priesthood, and disdain for Torah were rife from the death of Joshua and the elders until the final destruction of the 2nd temple. We're now rebuilding Israel, with God's help.
Numbers is primarily a book of historical experience, life lessons.
Other than rules of the trek itself, Divine commandments only occur when they naturally arise in the tale. There are NO permanent commandments in our portion and only 54 of the 613, per Sefer Hachinuch, in all of Numbers. The Kingdom of God is the Messianic goal of history. Man is made man by history. Dubnow predicted that Jewish post-Biblical history will have equally high impact on mankind.