Did angels descend to guide people to worship Allah before the prophets, with the exception of Adam, and is this true?

The texts of revelation do not indicate that Allah Almighty sent angels directly to humanity to guide them. Rather, the Qur’an stipulates that messengers are from human beings, and this is confirmed by the noble verses such as: ﴿And We sent not before you except men to whom We revealed from among the people of the cities.﴾ [Yusuf: 109]. The disbelievers found this strange, but Allah Almighty sent messengers from among humans so that they could understand from them and so that they could understand them. If there had been angels on earth, Allah would have sent an angel as a messenger to them. This assertion that angels used to guide people is false and has no basis in religion.