I consider the commission of Matt 28:18-20 to be effective during the Millenial Kingdom when the apostles will rule and reign with Jesus.
Heb. 2:8 indicates all things are not yet subjected to Him so Matt 28:18 references when all things will be subjected to Him. Jesus will exercise all authority when Israel's hope is realized during the Millenium.
The "Go therefore" of verse 19 seems to make more sense knowing something has occured to warrant a "therefore". Verse 20 indicates the apostles are to teach Israel to observe all that Jesus has commanded. (There is no mention of preaching the gospel.) Also, verse 20 indicates the commission is for a time in which Jesus will be with them until the end of the age. This hasn't been accomplished yet.
A different but similar commission appears to be given by Jesus in Mark 16:15-20. This commission commands the apostles to preach the "gospel of the kingdom" in all the (known) world. This commission indicates signs and wonders will accompany them. Verse 20 confirms the apostles did these things.
We know the commission of Matt 28:18 is future and will be accomplished at the end of the "times of the Gentiles" when The Lord delivers on His promises to Israel.
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