God's Truth
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The way I interpret it, Jesus' message was to the House of Israel. He didn't think much of Gentiles and referred to them as "dogs" and made fun of their worship style. The irony is that Christianity is now full of Gentiles who worship Jesus as God, the sin of idolatry.
The outreach to "the nations" was Paul's idea and the gospel writers made sure folks besides the Jews were told the Good News. Besides, the conflict between the Jewish followers of Jesus and those Jews that did not was resulting in Jesus's followers getting kicked out of the synagogues.
Going to all the nations was not Paul's idea. Jesus referred to the non Jews as dogs because like dogs, they did not know their father, the Father God in heaven.
Jesus said he came first for the lost sheep of Israel (the Jews who already belonged to God by faith). It did not take faith in God to obey the old law. Some Jews had faith and obeyed, and some Jews did not have faith and obeyed. Jesus came first for those who had faith in God. They were God's and God gave them to Jesus. They now had to go through Jesus to remain God's.
Jesus said when he is crucified, then all could come to him for salvation.
John 12:32 And I, when I am lifted up from the earth, will draw all people to myself."