Scientists have "seen" (with extensions of their senses) space expanding and the broad consensus is that it will keep expanding until the last bit of energy is spent.
THIS is the point where I have my issue. I think by definition they need to realize and admit and most of all BE CLEAR that what they have seen, as far as they can see, no matter how good the technology gets, is not "the end" of the universe, It's only "the limit of our ability to observe." It still seems to me very clear that we would expect (based on the reasoning that matter and void must both be infinite) that there is indeed no limit to how much matter is out there. So that in fact what probably should be the presumption is that even though "our" universe appears to expanding as far as we can see, we ought to presume (based on the logical arguments) that there is in fact no end, and outside/past our ability to see is additional infinite space with additional cosmos that may or may not be expanding or contracting or whatever in the same way that ours is.
That is why I see a major distinction between the innumerable grains of sand and the infinity of space. If in fact you had the time and inclination and perseverance to could the "grains of sand" on the beach, or on the whole earth, that would seem to be theoretically possible to count and one day come to an end.
With the number of objects in space, however, it would be theoretically impossible to even come to an end in counting, because the best argument is that the universe is infinite in size, and therefore there will always be more to be counted no matter how long one tried.
And at least for me, still shaking off the hold of my religious background, I see a difference in kind between the two situations, and not just a difference in degree. It's coming to terms with the idea that there is no counting EVER the number of elements in the universe that is hard, not coming to terms with the idea of counting the grains of sand on the beach. And it's therefore the problem of infinite space which I would see as the worse enemy in polluting mens' minds with religion, rather than the problem of counting the sand on the beach. The challenge of counting the grains of sand I think could eventually be explained to most "normal" rational people, but the problem of counting something that in fact has no end is where the mind gets tempted toward the supernatural, and that's the temptation that needs to be addressed.
As you say this is an excellent discussion and I am glad we have an open forum where it can be extended in depth.