According to the Genesis account, Adam was made OUT of the earth, FOR the earth, to FILL the earth, take DOMINION over the earth, be SUSTAINED by the earth, and will RETURN to the earth. The scope of salvation history is focused on earth. In the end we will inherit the earth.
Humans were not created angels to live in Heaven, nor with wings to traverse the skies and live in nests, nor with fins to live in the sea. We are made for earth.
Where did we ever get the idea the goal is Heaven? Could it be we have bought into Greek dualism?
For a fuller exploration of this subject, read “Heaven on Earth: Experiencing the Kingdom of God in the Here and Now.” Available from Amazon in paperback or as a Kindle/eBook download.