Matthew Henry (1662-1714), a Reformed commentator who is still popular among Calvinists today, wrote the following
about Acts 23:11, affirming that Jesus did physically (not in a mere vision or
dream) descend from heaven to comfort Paul:
The Lord stood by
him, came to his bed-side, though perhaps it was but a bed of straw, to show
him that he was all the day long with him really as sure as he was in the night
with him visibly. Note, Whoever is against us, we need not fear if the Lord
stand by us; if he undertake our protection, we may set those that seek our
ruin at defiance. The Lord is with those that uphold my soul, and then
nothing can come amiss. 1. Christ bids him have a good heart upon it: "Be
of good cheer, Paul; be not discouraged; let not what has happened sadden
thee, nor let what may yet be before thee frighten thee." Note, It is the
will of Christ that his servants who are faithful should be always cheerful.
Perhaps Paul, in the reflection, began to be jealous of himself whether he had
done well in what he said to the council the day before; but Christ, by his
word, satisfies him that God approved of his conduct. Or, perhaps, it troubled
him that his friends did not come to him; but Christ's visit did itself speak,
though he had not said, Be of good cheer, Paul. 2. It is a strange
argument which he makes use of to encourage him: As thou hast testified of
me in Jerusalem, so must thou bear witness also at Rome. One would think
this was but cold comfort: "As thou hast undergone a great deal of trouble
for me so thou must undergo a great deal more;" and yet this was designed
to encourage him; for hereby he is given to understand, (1.) That he had been
serving Christ as a witness for him in what he had hitherto endured. It was for
no fault that he was buffeted, and it was not his former persecuting of the
church that was now remembered against him, however he might remember it
against himself, but he was still going on with his work.
Henry clearly did not believe that Acts 3:19-21 disallows Jesus from
ever descending from heaven until the eschaton. See Acts
3:19-21 and the Book of Mormon.