There I will meet with you, and from above the mercy seat, from between the two cherubim that are on the ark of the testimony, I will speak with you about all that I will give you in commandment for the people of Israel.
#exodus 25:22

God can speak to us anywhere, in any circumstances, but a pure and righteous heart (symbolized by the Ark of wood and beaten gold beneath the atoning cover of Yeshua) make His voice clearer.