Matt 28:19,20 is a misinterpreted and iffy scripture.
I don't believe that Jesus said "In the name of the father, son and Holy spirit". There is no explanation of what that means or no context behind it. Jesus does not teach without an explanation.
And the Go therefore and make disciples is not a command as they elders would say.
They had just asked Jesus if he was going to restore Jerusalem to the Jews. Jesus said to not worry about it, but your job is to go and preach. As he said that he ascended to heaven. He was just directing them to focus on the heavenly kingdom and not the earthly one.