Most people who have believed in Yeshua have not seen visions of his heavenly glory. Only a relative few saw such things in the early years. What came down to us is the record of people who believed something because they saw them. The revealing of Yeshua’s divinity came to us from those who saw evidence of it, just as the record of Torah given at Sinai was passed down by a people whose forefathers were there. The Bible is a record of people from the past claiming to have experienced things connecting humans to the divine.
Nonetheless, Paul said to his disciples in Corinth, “we all, with unveiled face beholding the glory of the Lord, are being transformed into the same image from one degree of glory to another” (2 Cor 3:18, ESV). The “we all” includes people who did not have the Divine Messiah realization directly through a visionary experience. We believe what they passed down. And we are transformed by that word, if we believe it, just as they were transformed by experiencing it directly.
And in addition to believing with our minds something communicated in writing, we have other ways of knowing, interior ways. It is by the Spirit that we can say, “Yeshua is Lord.” In other words, there is mystical communication to the soul which cannot be put into words.