In his book, “The temple: its symbolism and meaning then and now,” Joshua Berman makes a comparison between the revelation at Mount Sinai and the holiday pilgrimage to the Beit Hamikdash.
The experience at Sinai was not meant to be a one time experience. It was a very dramatic moment that showed the special bond between Hashem and the Jewish people. Just as Hashem appeared in the thickness of the clouds at Sinai, His Presence was also felt in the Temple.
Rabbi Berman described the Temple as the dwelling place of the Shechina, the Divine Presence. The act of worshipping on the pilgrimage festivals, is an attachment to G-d, similar to that of Sinai.
We are able to feel a taste of this holiness each time we visit the Kotel. If this is felt when coming in contact with a remnant of the Beit Hamikdash, we can only imagine the type of spiritual exhilaration felt on holidays like Pesach.
There was a clear fulfillment of “You will be My people and I will be your G-d,” as mentioned by the prophet.
This will felt at Sinai and it was also felt in the Beit Hamikdash on the holidays.