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He did not go there
"He did not enter heaven"
year by year
"every year" or "each year"
with the blood of another
This means with the blood of an animal victim, not with his own blood.
If that had been the case
"If he had had to offer himself often"
since the world's foundation
The creation of the world is spoken of as if the world were a building and the foundation was the first part to be constructed. AT: "since God began to create the world" (See: rc://en/ta/man/translate/figs-metonymy)
he has been revealed
This can be stated in active form. AT: "God has revealed him" (See: rc://en/ta/man/translate/figs-activepassive)
to put away sin by the sacrifice of himself
This speaks about sin as if it were an object that a person could put away. Putting sin away represents forgiving it. AT: "to cause God to forgive sins by sacrificing himself" or "to sacrifice himself so that sin can be forgiven" (See: rc://en/ta/man/translate/figs-metaphor)