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Yes, but it’s actually not as simple as that. There are deceiving spirits and doctrines from demons. How do you think demons get their doctrines out into the world? They whisper in a prophet’s ear, so to speak, and he or she may have thought it was a message from God. Whoopsie daisy. It’s necessary to know the voice of God. This comes through relationship and experience.
I agree with you on being able to recognize the voice of God, for God is the final word.
There are 2 bible stories that come to my mind.
The man of God who went to Israel to Jeroboam to deliver God's message to him.
However God specifically told him not to return the way he came, nor to enter anyone's house to eat.
An old prophet of God came to that man of God and told him that God told him to return with him, and sup with him at his house.
The man of God returned with the prophet to sup at his house.
After he left the prophet's house he was killed by a lion in the way.
The morale of the story is not even to listen to a true prophet of God, when God has already spoken to you.
The second is Paul the Apostle.
Prior to going to Rome, Paul decided to go to Jerusalem to see the brethren there.
Paul was dissuaded by different people not to go to Jerusalem, including a prophet of God, who told him he would be bound in Jerusalem by those who wanted to kill him.
Paul decided to disregard all attempts by anyone to stop him, knowing that he was ready to die for his faith. Paul went to Jerusalem, with many attempts on his life but successfully navigated the system and found himself in Rome, where he was able to do God's work.
In these last days God has not sent anyone to do anything. The only thing that we have been told to do is to live in the spirit. (which include being a light to those who cross our path)
1Pe 4:6 For for this cause was the gospel preached also to them that are dead, that they might be judged according to men in the flesh, but live according to God in the spirit.
Peter was told by Jesus Christ that when he was converted to strengthen the brethren.
Luke 22:32 But I have prayed for thee, that thy faith fail not: and when thou art converted, strengthen thy brethren.
Lastly Peter was told by Jesus in John 21 to feed all of his sheep, in all his folds.
Peter (1st & 2nd Peter address the end-times of this world), and also John (1st, 2nd & 3rd John & Revelation) does the same thing.
God has not forgotten us and we have to take care to live in the spirit as this is what Jesus told the Samaritan woman at the well.
John 4:23 But the hour cometh, and now is, when the true worshippers shall worship the Father in spirit and in truth: for the Father seeketh such to worship him.
John 4:24 God is a Spirit: and they that worship him must worship him in spirit and in truth.
Things were different in the 1st Century but was starting to change from the traditions that were being practiced when Jesus came to this earth.
1st Corinthians explains exactly the beginning from the ending.