They lived but only close to over 2,000 years ago. If they can hear Gods voice directly and talk to you without refering to hebrew scripture, why cant believers today?
Because according to prophecies, they've been cut off.... No longer to get prophets, their priest to be confounded and be teaching lies.
Basically many are facing almost the opposite way from God, and facing into the spirit of the accuser (satan); yet they perceive themselves to be on the right track, though they hear not and do not see clearly.
As well as what has been prophesied, mankind has tied its self in knots, with self proclaimed prophets 'sealing' anyone else from coming to fix it.
Often today people hearing voices are deemed schizophrenic, regardless of it being checked as an actual ability... This is why people should be careful with cannabis, psychedelics, etc, as they allow communion with the spirit realm.
Also due to the deception in the books, many who really do hear God, will be confounded by the many contradictions it might cause, within a world which is nearer hell than heaven.
p.s The anointing oil in the Bible should be made with Kaneh-Bosem (canna-bis), which explains its healing, prophetic and spiritual shamanic abilities, that we used to find in all religions globally.