Psychomom,
You would not teach lasciviousness. I know you would not.
Let us all be honest with ourselves. Why wouldn't we teach that? Because, God's Will for us, His righteous path is still spoken about even under the New Covenant. Indeed, our Lord is Master and a Master seeks those who obey.
Let us see what that verse says:
Act 5:32 And we are his witnesses of these things; and so is also the Holy Ghost, whom God hath given to them that obey him.
As pertaining to Peter and the other apostles preaching the Gospel, to whom did God give the Holy Spirit too? It was to those who 'were submitting to His authority (G3980 (to be persuaded by a ruler, to submit to those in authority))'.
If our Lord (Master) has said what is evil in His sight, then shall we not submit to His authority and love as He commanded, seeing that love does inadvertently keep in harmony to His Will He has previously told us?
Consider, my friend, your words. If it is a free ride, then there is no need for a Lord. If there is no Lord, there is no One to submit to. If there is no Lord before our eyes, then where is our Shepherd (the Lord of the righteous path)?