We aim to directly determine the kinetic temperature and spatial density with formaldehyde for the $sim$100 brightest ATLASGAL-selected clumps at 870 $mu$m representing various evolutionary stages of high-mass star formation. Ten transitions ($J$ = 3-2 and 4-3) of ortho- and para-H$_2$CO near 211, 218, 225, and 291 GHz were observed with the APEX 12 m telescope. Using non-LTE models with RADEX, we derive the gas kinetic temperature and spatial density using the measured p-H$_2$CO 3$_{21}$-2$_{20}$/3$_{03}$-2$_{02}$, 4$_{22}$-3$_{21}$/4$_{04}$-3$_{03}$, and 4$_{04}$-3$_{03}$/3$_{03}$-2$_{02}$ ratios. The gas kinetic temperatures derived from the p-H$_2$CO 3$_{21}$-2$_{20}$/3$_{03}$-2$_{02}$ and 4$_{22}$-3$_{21}$/4$_{04}$-3$_{03}$ line ratios are high, ranging from 43 to $>$300 K with an unweighted average of 91 $pm$ 4 K. Deduced $T_{rm kin}$ values from the $J$ = 3-2 and 4-3 transitions are similar. Spatial densities of the gas derived from the p-H$_2$CO 4$_{04}$-3$_{03}$/3$_{03}$-2$_{02}$ line ratios yield 0.6-8.3 $times$ 10$^6$ cm$^{-3}$ with an unweighted average of 1.5 ($pm$0.1) $times$ 10$^6$ cm$^{-3}$. A comparison of kinetic temperatures derived from p-H$_2$CO, NH$_3$, and the dust emission indicates that p-H$_2$CO traces a distinctly higher temperature than the NH$_3$ (2,2)/(1,1) transitions and the dust, tracing heated gas more directly associated with the star formation process. The H$_2$CO linewidths are found to be correlated with bolometric luminosity and increase with the evolutionary stage of the clumps, which suggests that higher luminosities tend to be associated with a more turbulent molecular medium. It seems that the spatial densities measured with H$_2$CO do not vary significantly with the evolutionary stage of the clumps. However, averaged gas kinetic temperatures derived from H$_2$CO increase with time through the evolution of the clumps.
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