The angelic are everywhere, on all levels of existence. Nothing happens in creation without their involvement.
Not sure what you understand my"heaven", if it is what I understand as source, then there is only one group of being that come directly from source, and they are not angelic in my view and understanding.
Most would know them as the Elohim. I call them the Master builders.
They move through the densities at will. And yes they incarnate. I know several incarnates who are part of those beings. Most of them knew who and what they were. The angelic incarnated on this planet mostly don't know who they are.This is the nature of reality.
It is the Elohim who construct the framework for this reality and change and dismantle it when the time comes.
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