I believe what Apostle Paul said both in 1 Timothy 1, and in those Romans 7 and 8 chapters.
And I also heed our Lord Jesus' commandment for how we are to pray per Luke 11, which includes asking forgiveness of our sins, and that's supposed to be whenever we pray!
Luke 11:2-4
2 And He said unto them, When ye pray, say, "Our Father Which art in heaven, Hallowed be Thy name. Thy kingdom come. Thy will be done, as in heaven, so in earth.
3 Give us day by day our daily bread.
4 And forgive us our sins; for we also forgive every one that is indebted to us. And lead us not into temptation; but deliver us from evil."
KJV
Did you not notice Paul's first statement in Romans 8 that has a condition???
Rom 8:1
8:1 There is therefore now no condemnation to them which are in Christ Jesus, who walk not after the flesh, but after the Spirit.
KJV
Walking after the Spirit and not our flesh is the condition, which agrees with what he said in Galatians 5:18.
Gal 5:18
18 But if ye be led of the Spirit, ye are not under the law.
KJV
Probably should have read the following before going into Rom.7 & 8 also...
Rom 6:12-16
12 Let not sin therefore reign in your mortal body, that ye should obey it in the lusts thereof.
13 Neither yield ye your members as instruments of unrighteousness unto sin: but yield yourselves unto God, as those that are alive from the dead, and your members as instruments of righteousness unto God.
14 For sin shall not have dominion over you: for ye are not under the law, but under grace.
15 What then? shall we sin, because we are not under the law, but under grace? God forbid.
16 Know ye not, that to whom ye yield yourselves servants to obey, his servants ye are to whom ye obey; whether of sin unto death, or of obedience unto righteousness?
KJV
According to Paul there, sin is unto death, but obedience is unto righteousness. The difference is that our flesh is already... condemned to death, but our spirit in Christ Jesus is not, if... we walk by The Spirit. This is why we still need to repent to Christ of sins we may commit after having believed on Him and been baptized.