Micah's words were written nearly 2700 years ago and yet are still directly relevant to us in the church today. In Scripture, the "latter days" refer to a vast period of history starting at the birth of Jesus and lasting all the way until His second coming.
True blessedness and joy is not reserved for perfect people, because (apart from Jesus) there are none. True blessedness is granted to those who own their sin, hate their sin, and turn from it in disgust and embrace the forgiving and restoritative grace of Christ in the gospel.
What do we do with our anxiety, fear, depression, discouragement, and frustration? We must not suppress them or blindly follow them, but learn to pray them. Prayer is a safe place to process our emotions in the presence of God...and see them transformed over time.
This end time vision of the New Jersusalem being lifted up can only be fulfilled because of the suffering Messiah who was lifted up first.