You wrote: "He can’t just ‘hang out’ with us, sinful humans.."

Why not? What is stopping him?

You also wrote: "There has to had been a sacrifice for our sins, so we can be in fellowship with a righteous God."

Why? How does this even make sense? And even if a sacrifice is necessary, how can that sacrifice be god's own son? Imagine saying to a people "you've been bad, but that's OK because I'm going to kill my son to make up for all the bad you have done and will do." It's nonsense.