We're going to look at what the Bible writers state concerning what they and others saw of God with their natural eyes. We're going to begin back in the book of Genesis; right where it seems everything begins.
Let's just review those verses and look at what it says. First of all, the Lord appeared and Abraham saw Him with his eyes and what did He look like? He looked like a man. But it was the Lord because Abraham bowed down and worshipped Him and He didn't reject the worship.
In verse 4, Abraham said, "Let a little water be brought, and wash your feet." God has feet. "And I will bring a morsel of bread." We find that God took the bread and the meat and the three of them ate. He spoke, so He had a voice and He conversed with them. That's pretty clear.
I believe that Exodus 20 was indicating that God was prepared to do for the entire nation of Israel the same as He had done with Abraham, with Moses, and with others as well. But He presented Himself in such a way as to impress upon them the weighty responsibility of such a situation. (Paul said, "Our God is a consuming fire.") And they quickly chose a mediator to stand between them and God.