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What did Bnei Yisrael experience at Matan Torah?

I'm having trouble understanding what the Israelites actually experienced at the Revelation at Mt Sinai. Did they all see God? Did they all hear Him? Did they all understand Him? Did they hear all of ...
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Why do we read from Yechezekel on Shavuos and Yeshayahu on Parshas Yisro?

There are two times that we read about the giving of the Torah: When we read Yisro and on Shavuos. On both days we read Haftoras of Neviyim going up to Shamayim. On Shavuos we read about Yechezkel ...