does holding the ark as sacred mean we should venerate relics as the Orthodox and Catholic churches do?
No. It would support never touching a relic as much as venerating relics. Three points to consider in the answer. 1. Uzzah was killed for disobeying the law on touching the ark (Numbers 4:15), not for lack of worship or veneration. 2. The Israelites were supposed to have respect for this ark of the Lord, but that is a different kind of respect than respecting human things. 3. While respect for Gods people, on earth and in Heaven, is fine, that is different from veneration. See When Cultists ask p.51 for more info. Q: In 2 Sam 6:20, why did David dance in public without clothes? A: David was not naked; he was wearing a linen ephod, according to 2 Samuel 6:14. David was not dressed as a king or acting in a way Michal thought a king should act, and Michal was criticizing him for that. It is one thing to criticize a person to help them improve. It is another thing to criticize a person in such as way that you show you have no respect for that person any more. See Hard Sayings of the Bible
