In what you wrote is only says. "hearing a voice,". So we know they picked up something, but if they did not what was said.
Acts 22:9 And those who were with me saw the light, to be sure, but did not understand the voice of the One who was speaking to me.
So they didn't understand they voice. How come? How come they were right there with Saul and couldn't understand what was being said. In the same way, those Moses took to the mountain heard thunder, but didn't seem to hear what was being said. They were right there at the mountain, and that should not have been the case, just like those with Saul should have heard what was going on and understood the words spoken.
Now I made it a question, but I believe the answer is what we see today. Many people go to church and the Spirit of God moves and people feel it and know something is going on, and someone has a word. Why not everyone? Is it not obvious that the Spirit of God speaks spiritual words, not sound waves.
The problem I see is that we, being men in the flesh, always think in fleshy terms instead of spiritual terms. So we tend to present a fleshy gospel, instead of a divinely spoken gospel. Thus people tend to think they haven't heard from God and can't. Thus our gospel puts God in some far off place called heaven. That is we preach the word of God far from them, instead on there lips and in their hearts! And that is clearly not the gospel we are supposed to be preaching!!!
Rm 10:8 But what does it say? "THE WORD IS NEAR YOU, in your mouth and in your heart" -- that is, the word of faith which we are preaching
So if I preach that God shows up like to Abraham, with two angels in the flesh and speak sound waves, those words are not coming from in your mouth and in your heart. Sound waves come through your physical ears, and thus preaching that is not the word of faith which we are preaching. But that gets preached, never-the-less, and by men who should know better. But will they admit that to themselves. Then they preach the word is on paper and we have to live by the ink on the paper. And if I read that ink on the paper, those sound waves are the word we are preaching, which again is contrary to the very writings they are trying to live by.
So they have said in their hearts the God if far off and not near. They make Him out to be someone that the people can not actually know and hear from daily in their heart. They have become exactly like those being written to, and they are. God wrote to those at the foot of the mountain, because they said, "let God not speak to us".
Ex 20:19 Then they said to Moses, "Speak to us yourself and we will listen; but let not God speak to us..."
So God said, Ex 23:20,21 "Behold, I am going to send and angel before you,,, Be on guard to obey his voice
And we see the same pattern Jn 14:16 I will ask the Father, and He will you another Helper... that is the Spirit of truth
And Jn 16:13 But when He, the Spirit of truth, comes, He will guide you into all the truth
And Jn 6:63 It is the Spirit who give life' the flesh prophets nothing;
the words that I have spoken to you are spirit and are life
So was Jesus wrong. Were the words spoken to us sound waves? What is written?