There is no condemnation for us. None. Zero. Nada. Zilch.
We will never be judged judicially for sin - Jesus took all of God's wrath for us.
God says to all who trust in His Son; "Not Guilty!"
We have been declared righteous.
If we are in any way guilty, then we can be condemned.
So why feel guilty if we are not guilty?
There is no condemnation if we walk in the light. If we walk in darkness our conscience/heart condemns us. If we walk in darkness and sin, Christ holds it against us, too (Revelation 2-3). There are some very dire warnings for those who persist in sin.
There is no liberty to sin without guilt as you suggest. That's just lawlessness. The lawless will not enter into heaven.