I believe it is with in the pail of orthodoxy to on some level have a relationship with the living God. We can argue about what that exactly means.
Well, if a person is "Sola Scriptura", the Bible says,
"Therefore submit to God. Resist the devil and he will flee from you." (James 4:7)
To me, submitting to God includes relating with Him and how He personally has me becoming and how He personally guides me while I am submitting to Him. So, to me this would clearly mean how salvation includes a personal relationship with Him. If we trust Him, we submit to Him ruling and guiding us in our hearts, I would say.
And our Apostle Paul says, "we who first trusted in Christ" > in Ephesians 1:12. If you come to trust in a person, what and how much does this involve? I mean if you come to deeply trust a person, there is intimacy and relating and personal communication in such trusting. There is very personal relating involved in trusting in a person; trusting is not only trying to use someone, from a distance, merely trusting that you can use the person to get what you want.
And ones understand . . . I think there are people, anyway > there is at least one, anyway, who is I
> who understand that believing in someone includes coming to trust in that person. And if we truly do trust Jesus, we do what He says. And Jesus says He guides His sheep; guiding is very personal.
And Jesus says He gives us His own peace > John 14:27 < if we have Jesus Christ's own peace, this is the peace which Jesus Himself is experiencing, on Heaven's throne, is it not? So, if we are sharing in the peace which Jesus Himself is experiencing, we even are feeling what He is feeling . . . more or less, depending on how much we have grown in Christ and this peace. So, this is very personal relating and sharing, if we are experiencing and feeling what Jesus our Groom is experiencing and enjoying in His own peace.
And the scriptures say this, don't they? I have quoted scriptures.
And in this peace we are personally guided, if we are ruled by this peace in our hearts. And Colossians 3:15 does say we are all "called in one body" to be personally ruled by our Father's own peace in our "hearts" >
"And let the peace of God rule in your hearts, to which also you were called in one body; and be thankful." (Colossians 3:15)
This is very personal relating, to be personally ruled by God in our "hearts" < a very personal place to be relating with God.
So, I would say the Scriptures say plenty to indicate how God wants to personally relate with every child of His. There is more scripture than what I have offered here.