If We pleased We could have put angels in place of you as trustees on the earth.
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Tafseer
'Abdullāh Ibn 'Abbās / Muḥammad al-Fīrūzabādī
تفسير : (and had we willed we could have set among you) in your own places; and it is said this means: had we willed we would have created instead of you (angels to be vicegerents in the earth) angels instead of you; it is also said this means: angels to walk in the earth instead of you.
Jalāl al-Dīn al-Maḥallī
تفسير : and had we willed, we would have appointed among you, instead of you, angels to be [your] successors in the earth, by our destroying you.