Just a major correction: In the saints’ worship of God, the believer is not instructed in scriptures to join the angels to do anything, angels aren’t to be imitated nor followed by the saint in scripture. It was never suggested. If anything, the angels ought imitate the saint.

Angels are imitators and students of men, especially the men in Christ. Angels weren’t created with a superior knowledge of the worship of God, to man, nor the knowledge of God.
Angels worship God only as seen in man, the man Christ Jesus. See Hebrews 1:6

Firstly, the angels learn God’s true nature and wisdom by man, especially the man in Christ. Ephesians 3:9-10.

Angels aren’t role models to men, they are students of men, and are made to serve men.
Hebrews 1:7,14

The angels would learn the “what to” and the “what not to” say in worship by the man in Christ, of God.
They can only see God in man, and that, they first saw in the incarnation. 1 Timothy 3:16

1Timothy 3:16
And without controversy great is the mystery of godliness: God was manifest in the flesh, justified in the spirit, seen of angels...

“Worship” in scripture primarily involves how well it should be done than the act itself, something Jesus brought to light with the women at the well (John 4:20-24).

The woman said to Jesus “our Fathers worshipped in xyz manner”, the OT
Jesus corrects her saying
“True worship will be in the Spirit (to be in Christ), not in locations (or the way it has hitherto been done”

Worship is for sons. The Father and His Family.

Angels would finally see the true worship(Jesus) and the true worshippers (Sons of God) and imitate their “how to”.

Sons worship in the revelation of the Father seen in Christ.
(Rom 8:14-16, Gal4:6, Eph2:18, Phil 3:3)

There was a way it used to be done in the Old Testament, with ceremonies, worship of Angels, when there was no light.
Not anymore.

All we need to do is:
1. Lift up our holy hands 1 Timothy 2:8
2. Present our bodies- Romans 12:1 (display ourselves)

This knowledge isn’t in angels.

1 Peter 1:12
Unto whom it was revealed, that not unto them, but unto us they did minister the things, which are now reported unto you by them that have preached the gospel unto you with the Holy Ghost sent down from heaven; which things the ANGELS DESIRE TO LOOK INTO.

Revelation 19:10
And I fell at his feet to worship him. And he said to me, don’t do it: I am your fellowservant, and of thy brethren that have the testimony of Jesus: worship God: for the testimony of Jesus is the spirit of prophecy.

The testimony of Jesus is true worship. As simple as that.
He’s our Father, so let’s worship him as such.