So, what is Yahweh's perfect plan for His people?

It is FAMILY

Yahweh wants all his children (sons and daughters of Yahweh) to rule themselves and no other.

This was the plan in Heaven before and after sin. This was the plan in the Garden of Eden. This was how Abraham operated and it was the plan during the time of the Judges.

Yahweh has promised to restore this plan.

And I will restore thy judges as at the first, and thy counsellors as at the beginning: afterward thou shalt be called, The city of righteousness, the faithful city. Isaiah 1:26

The "rules" instituted at Sinai were temporary measures while the Children of Israel were rehabilitated from years of physical bondage.

Likewise, the Kingdom of Yahweh is a temporary measure while the children of Yahweh are rehabilitated from years of spiritual bondage. The Kingdom of Yahweh came in at Yahushua's (Jesus') death when Satan was defeated.

The Kingdom of Yahweh will end after sin and Satan and death are thrown into the lake of fire.

We will no longer have a ruler, we will have a Father and we will voluntarily serve Him only.

Then cometh the end, when he [the Christ] shall have delivered up the kingdom to Yahweh, even the Father; when he shall have put down all rule and all authority and power. For he must reign, till he hath put all enemies under his feet. The last enemy that shall be destroyed is death. For he hath put all things under his feet. But when he saith all things are put under him, it is manifest that he is excepted which did put all things under him. And when all things shall be subdued unto him, then shall the Son also himself be subject unto him that put all things under him, that Yahweh may be all in all. 1 Corinthians 15:15-28

For as many as are led by the Spirit of Yahweh, they are the sons of Yahweh... And if children, then heirs; heirs of Yahweh, and joint-heirs with the the Messiah. Romans 8:14,17