You are using truths to result in what isn't the truth!
We are to follow the heart to the law. We are to perform out of love. This is truth. The footsteps we are told to walk in is Jesus'. But we are to be careful not to conclude that because our heart is the lead in to law, we are not to do anything in obedience. The law of Moses explains what following love in our heart leads to, how it is expressed. Following our heart leads straight to the law of Moses, if it doesn't then the heart is not of any use to us.
The people of those times didn't know from right and wrong. The laws were created as boundries by letting them know that they are crossing the line into areas that can harm others, and which the laws were like a guide for them, but they didn't understand the purpose of them; but they just patterned themselves to follow them like slaves doing their master's tasks. During the time of eating from the tree of knowledge of good and evil which had gave them the ability to discerned that there's a difference between them, but they didn't know which is right and which is wrong; and the serpent had twisted them by having them to believe that wrong is right and right is wrong. So the laws were to guide them back. But now we have the Holy Spirit that will be our guide and a new way to teach us to know the truth.
Jonah 4:11And should I not have concern for the great city of Nineveh, in which there are more than a hundred and twenty thousand people who cannot tell their right hand from their left—and also many animals?”
Matthew 15:14Leave them; they are blind guides. If the blind lead the blind, both will fall into a pit.”
John 16:13But when he, the Spirit of truth, comes, he will guide you into all the truth. He will not speak on his own; he will speak only what he hears, and he will tell you what is yet to come.