That happens now in linear space time amongst shamans and lightworkers.
The illusion is here - life on Earth and only Spirit is real. Unconditional Love surrounds us all the time, but as humans in our current dualistic consciousness we don't recognize that Love bathes us unconditionally every day.
My Guides came to me 4 days before my father passed and asked if I'd give him light to get to "the other side" I agreed. As a result I saw his passage (part of an upcoming memoir that's being finalized for publication).
I've been in contact with some that have taken "field-trips" to heaven with people close to passing.
Ordinarily we think of the Spirit world as separate. We think inner and outer, part of duality consciousness. The body can die and come back to "life" for as many as 8 to 12 hours after "death" has been certified.
The fear of death is about our attachment to our physical bodies. Death of the body is a release from suffering and an embrace by unconditional l love that is always there.