The phrase "here you go" is more versatile. In addition to the meaning you give it can be an indication of place or location.So basically it's the same meaning. Yet when you say 'here you are' it's like saying 'here you go'. Not really an indication of place is it
Yes, as in David Bowie's 1969 song Space Oddity:No, frankly, you are unlikely to want to say "here am I", not in normal speech. It's kind of poetic, literary, rhetorical, historical, etc.
See post #4In "Here am I" the emphasis is more on the "I".
There is some biblical text, psalm or hymn (can't remember which) where the Lord asks, "Whom shall I send?" and the response is "Here am I!" i.e., "Send me!"
In "Here I am" there is no special emphasis.
All of which suggests, I think, that the "here am I" version was the normal version back in 1611, "here I am" is normal now.