First of all, this seems like an excerpt from an interview, which would justify why the speech seems somewhat informal. But regarding the sentence you mentioned, I find it perfectly grammatical.
I guess what troubles you is the way "come" is used. It's just the past participle
"and I think, that says there's a tremendous longing to find the heart of the story in the story of Jesus, and the search for God come among us - I really think there's a strong longing for that."
It's like the phrase "We're in bad shape, come to think of it, and we need help"
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