Isaiah was given a vision of God. And unlike the people that we just read about in Hebrews 12, he was a more godly man. He was a man very much like Moses in his relationship with God. Moses was frightened by the appearance of God - as was Isaiah.
Isaiah, like Moses, became unglued in God's presence. I think we may conclude from just these two examples that we are better off the way things are. Facing God in person, face-to-face in His presence, should not be something we feel the need to experience. What we do have of the revelation of God is sufficient to produce the right mix of fear - if it is given half a chance.