I should have realised this much earlier. When was there direct perception (regesh) of the meaning carried in thunder? At the giving of the Torah. All Israel directly perceive the first two of the Ten Utterances, i.e. “ I am the Lord thy God” and “ Thou shalt have no other gods before me”. This is not only the traditional understanding of the passage, it is actually stated by the corresponding passage in Deuteronomy if the terminology is understood. (I will explain such details another time). Moses directly perceived the meaning of the whole message. See Jastrow on the Hebrew noun regesh (RESH-GIMEL-SHIN). The midrash on Exodus XX: 18 “ they SAW the sounds (or peals of thunder)” cited by him is only preserved in a quotation in the Yalkut Shim’oni. It is very old, I would guess belonging to the time of composition of the extant Tannaitic midrashim. We see that James and John and no others had direct perception of the New Torah when others only heard the surface meaning of what Jesus said.
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