Legalism is the preferred status of church folks who are still in “Adam” and are focused on rules and finite measures of holiness as a way to earn God’s favor and approval.
You can’t earn it. Those who are in “Christ” recognize that Christ has provided righteousness to us as a gift that cannot be earned. It’s Grace.
Those in Christ are those who have a divine revelation of the righteousness that has been assigned to us by Christ, have a shift in focus and awareness. Our heart is full of the desire to honor and love God as a result of the love and grace we have been given.
We are called to receive and manifest love. When you are driven by love then you aren’t pursuing sin. You are pursuing the heart of God.