Certainly, that was not the intended purpose for God
Let's first establish what God creates angels for, and then we can know what they are not created nor sent by God for:
Heb 1:7And of the angels he saith, Who maketh his angels spirits, and his ministers a flame of fire.
Heb 1:14Are they not all ministering spirits, sent forth to minister for them who shall be heirs of salvation?
God creates and sends angels to minister to the children of God, not to rule over any man.
Mat 20:28Even as the Son of man came not to be ministered unto, but to minister, and to give his life a ransom for many.
Even the Son came to minister to man, not to be ministered to by man. Much less any angels sent by God to minister on earth.
The angels that sinned left their first habitation in heaven unlawfully. They were not sent by God to earth.
Mar 12:25For when they shall rise from the dead, they neither marry, nor are given in marriage; but are as the angels which are in heaven.
The inference of the Scriptures is that their sin on earth was bedding women to produce giants, not ruling over men and women on earth.
setting up the righteous angels over the nations back in Deuteronomy 32:8.
Nothing says anything about angels ruling over them. You're inserting your own teaching into Scripture.
Those angels were first set over the nations in the days of the earth being divided when Peleg was born - Genesis 10:25).
Again, no angels mentioned.
God divided up the nations according to the number of the angels of God, who served in the role of overseers over those nations, or "Watchers" as Daniel called them (Dan. 4:17). This was the task of the righteous angels in those days.
Watchers, not rulers.
Dan 4:25That they shall drive thee from men, and thy dwelling shall be with the beasts of the field, and they shall make thee to eat grass as oxen, and they shall wet thee with the dew of heaven, and seven times shall pass over thee,
Their task was to drive the king to live among the beasts of the field.
This is the interpretation, O king, and this is the decree of the most High, which is come upon my lord the king:
And whereas the king saw a watcher and an holy one coming down from heaven, and saying, Hew the tree down, and destroy it; yet leave the stump of the roots thereof in the earth, even with a band of iron and brass, in the tender grass of the field; and let it be wet with the dew of heaven, and let his portion be with the beasts of the field, till seven times pass over him;...
The only Watcher and Holy One to have power and dominion of rule, was the Lord Himself coming down from heaven to declare His decree. The only One that comes down from heaven to earth with power of rule over all, is the Lord and Son, not any angels.
Till thou know that the most High ruleth in the kingdom of men, and giveth it to whomsoever he will.
The insttruction to the foolish king, is that the Lord Himself rules all nations of men, and gives men the rule over them, not angels.
Act 17:26And hath made of one blood all nations of men for to dwell on all the face of the earth, and hath determined the times before appointed, and the bounds of their habitation; That they should seek the Lord, if haply they might feel after him, and find him, though he be not far from every one of us:
Once again, nothing is said of angels divided to rule the bounds of men's habitations on earth. The Lord God Himself personally rules over all men created in His own image, not any angels created by Him
to minister to men conforming to His image.
Teaching any rule of angels over men is akin to worshipping of angels, that subverts the Scriptural truth, that it is only the Lord Himself ruling over all men and nations, and gives rule to whom He will: men, not angels.
It was some of those originally-righteous angels who fell into the temptation of accepting the worship of the men
No Scripture speaks of angels ruling over men, nor of being seen on earth to be worshipped by men. The only Scripture speaking of angelic beings having part in the affairs of a man, is as watchers, not rulers.
The only temptation Scriptures point to about certain angels, is to unlawfully leave heaven for earth and mate with women.
Rev 12:13 And there appeared another wonder in heaven; and behold a great red dragon, having seven heads and ten horns, and seven crowns upon his heads. And his tail drew the third part of the stars of heaven, and did cast them to the earth:
And, tt was Satan that led and sent them to earth, not God.
Scriptures declare the Lord creates angels to minister to men at His will, not to rule over men:
Mat 20:28Even as the Son of man came not to be ministered unto, but to minister, and to give his life a ransom for many.
Even the Son Himself came not to earth to be ministered to, but to minister to others. Much less any angels sent by God to men on earth.
Mat 4:11Then the devil leaveth him, and, behold, angels came and ministered unto him.
God does not send angels in appearance of men to rule over man, nor did He send His own Son in the flesh to do so.