beis hamikdash - Did people who were not priests ever enter the Tabernacle?

Is there any mention in the Tanakh of people who were not priests entering the Tabernacle?

Leviticus 17:5 says that the people were to bring their sacrifices to the priest at the entrance of the tent of meeting. Is this the entrance to the courtyard? Did the people ever actually enter the courtyard of the Tabernacle? Was there any specific law about this?

I am especially interested in references to the Tanakh, but would also be interested in answers based on other Jewish texts.

I am secondarily interested in the related question of what parts of the Temple, if any, people who were not priests were allowed to enter, or did enter.