What is the point of Earth?

Hi everyone! I am new to really diving into faith and have been reading the Bible for the first time recently. I started off in the gospels per recommendations of others (just finished Matthew), so maybe this is why I do not understand yet, but I have been grappling with one question. What is the point of us being on Earth? Why did God not just create us all to be in Heaven? I am new to this all, so this could be a very basic question, so I am hoping for a grace in responses. It just feels like if He loves us, what is the purpose of allowing us here to be misguided and sin and then potentially go to hell opposed to just creating us in Heaven?