You are reading a tafsir for the group of verses 17:95 to 17:99
قل لو كان في الارض ملايكة يمشون مطمينين لنزلنا عليهم من السماء ملكا رسولا ٩٥ قل كفى بالله شهيدا بيني وبينكم انه كان بعباده خبيرا بصيرا ٩٦ ومن يهد الله فهو المهتد ومن يضلل فلن تجد لهم اولياء من دونه ونحشرهم يوم القيامة على وجوههم عميا وبكما وصما ماواهم جهنم كلما خبت زدناهم سعيرا ٩٧ ذالك جزاوهم بانهم كفروا باياتنا وقالوا ااذا كنا عظاما ورفاتا اانا لمبعوثون خلقا جديدا ٩٨ ۞ اولم يروا ان الله الذي خلق السماوات والارض قادر على ان يخلق مثلهم وجعل لهم اجلا لا ريب فيه فابى الظالمون الا كفورا ٩٩
قُل لَّوْ كَانَ فِى ٱلْأَرْضِ مَلَـٰٓئِكَةٌۭ يَمْشُونَ مُطْمَئِنِّينَ لَنَزَّلْنَا عَلَيْهِم مِّنَ ٱلسَّمَآءِ مَلَكًۭا رَّسُولًۭا ٩٥ قُلْ كَفَىٰ بِٱللَّهِ شَهِيدًۢا بَيْنِى وَبَيْنَكُمْ ۚ إِنَّهُۥ كَانَ بِعِبَادِهِۦ خَبِيرًۢا بَصِيرًۭا ٩٦ وَمَن يَهْدِ ٱللَّهُ فَهُوَ ٱلْمُهْتَدِ ۖ وَمَن يُضْلِلْ فَلَن تَجِدَ لَهُمْ أَوْلِيَآءَ مِن دُونِهِۦ ۖ وَنَحْشُرُهُمْ يَوْمَ ٱلْقِيَـٰمَةِ عَلَىٰ وُجُوهِهِمْ عُمْيًۭا وَبُكْمًۭا وَصُمًّۭا ۖ مَّأْوَىٰهُمْ جَهَنَّمُ ۖ كُلَّمَا خَبَتْ زِدْنَـٰهُمْ سَعِيرًۭا ٩٧ ذَٰلِكَ جَزَآؤُهُم بِأَنَّهُمْ كَفَرُوا۟ بِـَٔايَـٰتِنَا وَقَالُوٓا۟ أَءِذَا كُنَّا عِظَـٰمًۭا وَرُفَـٰتًا أَءِنَّا لَمَبْعُوثُونَ خَلْقًۭا جَدِيدًا ٩٨ ۞ أَوَلَمْ يَرَوْا۟ أَنَّ ٱللَّهَ ٱلَّذِى خَلَقَ ٱلسَّمَـٰوَٰتِ وَٱلْأَرْضَ قَادِرٌ عَلَىٰٓ أَن يَخْلُقَ مِثْلَهُمْ وَجَعَلَ لَهُمْ أَجَلًۭا لَّا رَيْبَ فِيهِ فَأَبَى ٱلظَّـٰلِمُونَ إِلَّا كُفُورًۭا ٩٩
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3

In the last verse (95), it was said that they, despite being human, can-not demand that their messenger should be an angel. This demand was unreasonable. Yes, if angels had been living on the Earth and there was the need to send a messenger to them, then, indeed, an angel would have been sent as a messenger. It will be noted that the attribute of an-gels living on the Earth has been described here in the words: يَمْشُونَ مُطْمَئِنِّينَ (walking about in peace). This tells us that the need to send an angel deputed as a messenger to other angels would have come up only at a time when the angels of the Earth could not themselves go to the heavens rather remained living on the Earth alone. Otherwise, had they themselves possessed the power to go to the heavens, there would have remained just no need to send a messenger to the Earth.