Long ago the church resolved this dilemma and you see images of one sort or another in not only Catholic churches but Methodist and Episcopal churches, etc. We do not worship icons or statues. Worship – that is sacrifice – is only offered to God primarily in the Mass.
There is a context to those Old Testament prohibitions and they are radical, in that they overturn the practices of the neighboring pagans. They were aimed at such practices. Of course, these statues and commandments apply today as well.
Icons and statues can be inspirational and point to heavenly realities, to expand our spirituality.
Yesterday I was reading Dt 6:6 in my Bible in a Year bible from Augustine Institute: “And these words which I command you this day shall be on your hearts.” RSV-2CE
God has given us his love letter, the Bible, and we are to focus on that. The statues, icons, and painting, etc. serve the spirituality of others and we need not be led down the path like a herd to conform to others’ ideas of what is required. Focus on the words and you yourself become an icon of Christ to others.