Did God send Israel prophets to keep them close to him and to guide them?

Yes. The prophets were Jehovah God's means of not only communicating with the nation, but keeping them on track spiritually. (Jeremiah 37:6-7; 2 Kings 3:11; 19:1-7) Jehovah even spoke out against the prophets that tried to mislead His people. (Jeremiah 23:9-17)

(New World Translation of the Holy Scriptures)