Exodus 33-35

YHWH sends the Israelites on their way into Canaan but says he will not go with them, expecting that given their stiffneckedness, YHWH might well wipe them out before they get to their destination. But Moses pleads on their behalf and argues that YHWH's presence is very much needed, and reminds YHWH that these are His people.
15 Then Moses said to him, "If your Presence does not go with us, do not send us up from here. 16 How will anyone know that you are pleased with me and with your people unless you go with us? What else will distinguish me and your people from all the other people on the face of the earth?"

YHWH seems to be swayed by Moses' arguments and promises to be with the Israelites.
17 And the LORD said to Moses, "I will do the very thing you have asked, because I am pleased with you and I know you by name."

One senses that with this exchange, Moses' relationship with YHWH moves several notches closer, and Moses becomes less of a servant than a collaborator.

Note how YHWH recrafts the stone tablets and 10 Commandments with Moses's help. Then He re=establishes His covenant with the Israelites, and reminds them of what He intends for them in the Promised Land, and what they had to do to keep their part of the covenant. He makes it very clear that polytheism was intolerable.
11 Obey what I command you today. I will drive out before you the Amorites, Canaanites, Hittites, Perizzites, Hivites and Jebusites. 12 Be careful not to make a treaty with those who live in the land where you are going, or they will be a snare among you. 13 Break down their altars, smash their sacred stones and cut down their Asherah poles. 14 Do not worship any other god, for the LORD, whose name is Jealous, is a jealous God.

And it becomes clear that the divine plan of YHWH was for the Promised Land of Canaan to become the land for His people who will only worship the one true God, YHWH.

The Israelites then begin building the Ark, tabernacle and altars as instructed.