Muhammad Baqir Al-Majlisi writes:

سن بكر بن صالح عن أبي الحسن الرضا عليه السلام قال: من سره أن ينظر إلى الله بغير حجاب وينظر الله إليه بغير حجاب فليتول آل محمد وليتبرأ من عدوهم وليأتم بامام المؤمنين منهم فإنه إذا كان يوم القيامة نظر الله إليه بغير حجاب ونظر إلى الله بغير حجاب بيان: لعل المراد بنظره إليه تعالى النظر إلى نبينا وأئمتنا صلوات الله عليهم كما ورد في الخبر أو إلى رحمته وكرامته أو هو كناية عن غاية العرفان وبنظره تعالى إليه لطفه وإحسانه، وهو مجاز شائع في القرآن والحديث وكلام العرب فالمراد بقوله عليه السلام بغير حجاب بغير واسطة

“Sin Nun (Al-Mahasin), Bakr Ibn Salih, from Abu l-Hasan Ar-Rida (a.) who said: ﴾Whoever desires, that he looks at God without a curtain and that God looks at him without a curtain, let him be close to the family of Muhammad (s. ) and distance himself from their enemies and follow the leader of the believers (a.) of them, because when it is the Day of Resurrection, God looks to him without a curtain and he looks to God without a curtain.﴿ The explanation: His looking at Him may mean the looking at the Prophet and our Imams (a.) as it was reported or His mercy and bounty or it may be a metaphor for the highest level of knowledge and His looking at Him is His bounty and kindness and this is a common metaphor in the Qur’an (75:23) and the saying (Hadith) and the manner of speech among the Arabs. According to this, when he says “without curtain”, he is talking about “without any means.” [Bihar-ul-Anwar, Vol. 27, page 90]