17:95
Say, “If there were settled, on earth, angels walking about in peace and quiet, We should certainly have sent them down from the heavens an angel for a messenger.”
Commentators explain that the argument presented in this passage is that if angels were the inhabitants of the earth, then an angelic messenger could appropriately be sent to them, since beings of the same nature would be able to understand one another and convey God’s message clearly. However, because the earth is inhabited by human beings—who themselves are divided into various peoples, races, and nations—God sends messengers from among their own communities so that the message can be understood and communicated effectively. Thus, prophets are described as being sent from among their own people, such as Hūd to the people of ʿĀd (Qurʾān 11:50) and Ṣāliḥ to the people of Thamūd (Qurʾān 11:61). Furthermore, the appearance of angels among humans often results in fear and disturbance, as illustrated in the account of the angels who visited Lot (Qurʾān 11:77–80). For this reason, angels would not be able to carry out a practical mission among human beings (cf. Qurʾān 6:8–9)
References:
Yusuf Ali, Abdullah. Translation and Commentary of the Quran. (surah 17 verse 95)