And really, whichever part of an inheritance we inherit, all have God as Father.
All will see Him and be with Him and love Him and be loved by Him.
The whole reason for the arrangement has to do with healing the family. It is unthinkable for Him to be divided from His kids for all eternity, and yet the Devil keeps trying to promote that lie through various twisted teachings.
Having two different assignments in the family doesn't mean one group or assignment doesn't get to be with God. To the contrary - the whole reason for that assignment is to bring the other part of the group closer so all can be together.
"All things are possible with God."
Physical humans will get to hang out with God in the way that is most appropriate - for Him to visit in a materialized body. He didn't spend so long creating the earth for nothing. He loves it here!
If He was to not visit for all eternity, that would be like hell. He's not a "hell" person. The Devil is the one teaching the "hell" stuff.
What point would there being alive forever on earth and being separated from God? That doesn't make any sense. Life without Him would be purposeless. He is the reason we're alive. It's just a given that He's coming back.
The 144,000 are just part of a work assignment, like Joseph was part of a work assignment. He helped feed the kids. But being with his dad was what he missed the most.
Jehovah is coming back.