Here is a fascinating article from the Biblical Archaeology Society about the Ark of the Covenant and the possible meanings of its design. The Hebrews weren’t operating from a blank cultural slate. They had been living in Egypt for 400 years and adopting from that culture certain meaning-form understandings. For example, the pharaoh could go into battle while seated on a winged throne. That throne would be held aloft by shoulder poles – just like the Ark of the Covenant. In other words, it’s highly likely that the poles the Levites used to carry the ark, and the wings of the cherubim, and the mercy seat itself were all designed to carry a particular visual meaning – YHWH is divine king. I find the concluding paragraph of the article helpful in summarizing many of the elements of Old Testament religion.
“Therefore, even though Yahweh is not bound to human limits, he condescended to mankind deferring to human expectations of divinity. The cherubim had wings that stretched out over the Mercy Seat, and the shekinah glory met with man from between the wings of the cherubim above the ark. God did not try to change the beliefs of the people before engaging them, but instead respected human frailty and human notions of the divine, inverting or modifying those beliefs to teach humanity new ideas about himself.”