Mod 80, It is the Ramban who says the pshat on Azazel because he was a mysticist. The Rambam did not believe in Sheidim because he wa a rationalist. See Biur Hagra in YD 179.
As far as your questions about malachim, ein hochi nami, I don’t know what the purpose is. It seems that they appear very human sometimes, as even Avraham Avinu thought they were people. For me the mussar haskel is that even when we think somebody is ordinary, he could be very holy, because we never know the true essence of another. Beyond that I don’t know why we are told of the existence of malachim. I admit it bothers me. Even the Rambam talks of a hierarchy of malachim, although he was a rationalist which also puzzles me.
I honestly do have trouble understanding the high point of shacharis when we say vhaofanim vchayos hakodesh braash gadol misnasim l’umas seraphim l’umasam meshabchim vomrim. I have absolutely no idea what this means, and why we say it. All I can think of is that it depicts the great grandeur of the RBSH. However, is there anybody who really knows what these beings are, and why we are told of them? How are we supposed to have kavana when we haven’t the foggiest notion what it is supposed to mean?