Does one feel and see angels when the soul ascends to heaven, and hear the voice of Allah? And what happens to the soul after it descends to earth? And does it see the body as it is being washed and placed in the grave?

The soul is among the matters of the unseen, the knowledge of which God Almighty has kept exclusively for Himself. No one knows its nature except Him. Upon a person's death, the soul departs from the body. When buried, the soul is returned to the body in the grave for the questioning concerning his Lord, his religion, and his Prophet. This return is a barzakhi (interstitial) state, different from the life of this world. The deceased does not see his body during washing or carrying; rather, the soul is returned only at the time of examination. The destiny of the believer's soul after the questioning is spaciousness in his grave, whereas the soul of the disbeliever returns to his body, making his grave constricting and bringing him the heat of the Fire. The duty towards matters of the unseen is submission and belief in them without delving into their nature.