As much as I love grace, this distinction between self righteousness and righteousness does not exist in scripture.
Jesus is all about righteousness, reality from the heart, purity within, a sorted out life. The problem is there are people of all theological ideas who have impure hearts, out of which come things that make them unclean.
For out of the heart come evil thoughts—murder, adultery, sexual immorality, theft, false testimony, slander.
Matt 15:19
Jesus time and again says clean the bowl on the inside. He is saying stop dwelling on evil in your thoughts. As Paul says
Finally, brothers and sisters, whatever is true, whatever is noble, whatever is right, whatever is pure, whatever is lovely, whatever is admirable—if anything is excellent or praiseworthy—think about such things.
Phil 4:8
Blessed are the pure in heart they will see God.
Matt 5:8
The goal of this command is love, which comes from a pure heart and a good conscience and a sincere faith.
1 Tim 1:5
We come to faith because we accept we are sinners, lost, empty, broken in need of saving and a direction.
We trust Jesus to forgive us through the cross and remake us into righteous holy people, who dwell with the Lord.
Now however you put this, the aim is the same, to be and become like Jesus.
For those God foreknew he also predestined to be conformed to the image of his Son, that he might be the firstborn among many brothers and sisters.
Rom 8:29
And we all, who with unveiled faces contemplate the Lord’s glory, are being transformed into his image with ever-increasing glory, which comes from the Lord, who is the Spirit.
2 Cor 3:18
This is how love is made complete among us so that we will have confidence on the day of judgment: In this world we are like Jesus.
1 John 4:17
This is walking in the Spirit, walking in the authority and power Jesus gave us through the cross.