Scripture speaks of heaven as the place where birds fly. That word ‘heaven’ is also translated as sky, where there is the atmosphere.
Another heaven mentioned in Scripture is what we call outer space where the stars and planets are. “It shall be established for ever as the moon, and as a faithful witness in heaven. Selah.” Psalms 89
These two heavens mentioned are in the physical realm that can be seen with our physical eyes.
Then there is mention of “the third heaven” also called the ‘heaven of heavens.’ Deuteronomy 10 “Behold, the heaven and the heaven of heavens is the LORD’s thy God, the earth also, with all that therein is.”
“But will God indeed dwelll on he earth? Behold, the heaven and heaven of heavens cannot contain thee; how much less this house that I have builded.” 1 Kings 8
“But who is able to build him an house, seeing the heaven and heaven of heavens cannot contain him? Who am I then, that I should build him an house save only to burn sacrifice before him.” 2 Chron 2
God is Spirit. God dwells in the Spiritual realm. We cannot see the spiritual realm with our physical eye, but when our physical body dies we are given a body that God chooses that will never die.
I believe God dwells with His children in Spirit while we are on earth. We can talk to God when we want to, He expects it.
Peter said Jesus had “gone into heaven, and is on the right hand of God; angels and authorities and powers being made subject unto him.” 1 Peter 3
God’s children are heirs with Christ in the Family of God.
Romans 8:16 “it is the Spirit himself bearing witness with our spirit that we are children of God, 17 and if children, then heirs, heirs of God and fellow heirs with Christ, provided we suffer with him in order that we may also be glorified with him.”