Preaching last week, I came across a passage in Joshua that has a little bearing on the question.
Joshua 7:6-10
6 Then Joshua tore his clothes, and fell to the earth on his face before the ark of the Lord until evening, he and the elders of Israel; and they put dust on their heads. 7 And Joshua said, “Alas, Lord GOD....
10 So the Lord said to Joshua: “Get up...! 11 Israel has sinned, and they have also transgressed My covenant which I commanded them. For they have even taken some of the accursed things, and have both stolen and deceived; and they have also put it among their own stuff. 12 Therefore the children of Israel could not stand before their enemies, but turned their backs before their enemies, because they have become doomed to destruction. Neither will I be with you anymore, unless you destroy the accursed from among you.
Here is a passage where Joshua is said to commune with the Lord GOD "before the ark." And not only he, but also the elders of Israel, which must have been some company if it was anything like Ex.24:1. All those people are not going to fit in the whole Tabernacle; however, the courtyard would hold them. So, we ought to reason that in some sense even coming to the Tabernacle precincts was equivalent to attending the ark.
And this makes consistent sense with the
purpose of the primary sense of the words in Ex.25:22. Here is a case where the nation is assembled before the ark-throne of their God-king, abased, at a loss to understand or explain what has happened to them (their failure at Ai).
Is it possible that Joshua, perhaps; plus Eleazar the high priest, also entered the Tabernacle itself, going even up to the veil? I suppose this could very well describe what is happening. All the elders are "before the ark" in some sense, and Joshua is closer than most.
I would still place him outside the veil, however. And this might mark an important distinction between him and Moses. Just as Solomon was "David's greater son" in only a certain sense, and in most other ways he was less than his father; so also Joshua is Moses' successor (as judge-mediator for all Israel) and accomplishes what Moses could not by leading Israel into the land and to conquest. But Moses remains the unique mediator of the Old Covenant, he is still without peer in his access to the LORD's presence.