Sforno on Leviticus 24:3/ספורנו על ויקרא כ״ד:ג׳

1יערוך אותו אהרן, even though the procedure of lighting the Menorah, as well as the presentation of the daily incense offering was permitted to be carried out by any priest of the roster during future generations as per the sages’ tradition (Sifrey Behaalotcha 60), this procedure is linked to Aaron, seeing that all the time the Jews were in the desert the procedures involving the Temple service were on a “Day of Atonement” footing because the Torah linked the procedure to the line (17,2) “for I will manifest Myself above the kapporet by day and the column of fire will be visible at night,” a condition which ceased when the Jewish people settled in the land of Israel. It followed that procedures which took place inside the sanctuary would be the exclusive prerogative of the High Priest during those years. These procedures would be performed in the future by the High Priest on the day of Atonement.