Matthew Poole and continuators on Exodus 20:22

22 And the LORD said unto Moses, Thus thou shalt say unto the children of Israel, Ye have seen that I have talked with you from heaven .

(i. e.) Heard, as ver. 18. He may use the word, seen, here to intimate, that this was all they could see of God, to wit, his voice and speech, and that they saw no Image of him, as is expressed in a parallel place, and therefore should make no resemblances of him as it here follows

(i. e.) From the lower heaven, to wit, the air or the clouds, which were over the top of mount Sinai, Deut. 4. 36. Neh. 9. 13. and so the word heaven is oft understood, as Gen. 1. 20. Iob 35. 11. Psal. 79. 2. And so this place may be reconciled with Heb. 12. 25. where this is said to be spoken upon earth.

Marginal references: Deut. 4. 36.