“so that they do not incur guilt and die”

God told Moses specifically about the priest’s garments so that Aaron and his sons in priesthood

wouldn’t incur guilt and die (Exod. 28:31-43).

However, God told us through His people from the Old Testament (Gen. 3:15; Isa. 53; Ps. 22) that

The sinless High Priest Jesus Christ (Heb. 3:1; 2 Cor. 5:21) would bore our sins in His body on the cross,

So that we might die to sin and live to righteousness. (1 Pet. 2:24)