You are wrong. Henry says nothing about seeing resurrected bodies. He sees the 24 elders as representative of the Church. Unless you believe in soul sleep then the souls of all Saints go to heaven when they die!
We can go to Revelation 5:
8 And when he had taken the book, the four beasts and four and twenty elders fell down before the Lamb, having every one of them harps, and golden vials full of odours, which are the prayers of saints.
9 And they sung a new song, saying, Thou art worthy to take the book, and to open the seals thereof: for thou wast slain, and hast redeemed us to God by thy blood out of every kindred, and tongue, and people, and nation
10 And hast made us unto our God kings and priests: and we shall reign on the earth.
11 And I beheld, and I heard the voice of many angels round about the throne and the beasts and the elders: and the number of them was ten thousand times ten thousand, and thousands of thousands.
Observe, mh "1. The church begins the doxology, as being more immediately concerned in it (Revelation 5:8), the four living creatures, and the four-and-twenty elders, the Christian people, under their minister, lead up the chorus.
Verse 10:mh, " Every ransomed slave is not immediately preferred to honour he thinks it a great favour to be restored to liberty. But when the elect of God were made slaves by sin and Satan, in every nation of the world, Christ not only purchased their liberty for them, but the highest honour and preferment, made them kings and priests--kings, to rule over their own spirits, and to overcome the world, and the evil one and he has made them priests, given them access to himself, and liberty to offer up spiritual sacrifices, and they shall reign on the earth they shall with him judge the world at the great day."
We see in verses
8 "And when he had taken the book, the four beasts and four and twenty elders fell down before the Lamb, having every one of them harps, and golden vials full of odours, which are the prayers of saints.
9 And they sung a new song, saying, Thou art worthy to take the book, and to open the seals thereof: for thou wast slain, and hast redeemed us to God by thy blood out of every kindred, and tongue, and people, and nation;"
All the singing is taking place in Heaven and MH says "The church begins the doxology, as being more immediately concerned in it." that would place the church in Heaven prior to the Tribulation. Over and over we see MH teaching a Rapture of the church and here prior to the beginning of Earth's redemption we see "The church begins the doxology" in heaven.
Again prior to what you say was Darby forming the pre-trib rapture we see Henry saying "the church begins the doxology" and that doxology is clearly began in Heaven.
The Waldenses and other were looking for the return of christ for His church prior to the Tribulation.