A&Ds - Numbers, Deuteronomy, Joshua

Numbers 22:22-35 - Balaam did not want to go to Balak, which God had told him to do. He flees on a donkey. An angel appears to the donkey, the donkey moves to avoid it, Balaam beats the donkey, the donkey starts speaking, and then Balaam sees the angel.

Deuteronomy 32:8 - the boundaries of the nations of earth are under the care of angels (note, some translations say "sons of God" or "sons of Israel").

Deuteronomy 32:17 - the gods of the Canaanites are referred to as demons ("you offered sacrifices to demons, those useless gods", CEV)

Joshua 5:13-15 - Joshua encounters an angel with a sword the day before he attacks Jericho. He bows down and worships it. The angel calls himself "Commander of the Lord's Army". (v. 14, CEV). The angel directs Joshua to remove his shoes because he is on holy ground.