First I must say that your understanding of Torah is amiss. The Law always had and still has room for error. Yes, Torah is absolute in that it is the instructions HaShem gave for our lives- but HaShem built into Torah a way to return after we error. That is really what the "sin offering" was all about. It is not a sacrifice to placate HaShem, or pay for our sins and errors, it is part of the process of returning and repenting-teshuvah. And as no temple or priesthood is functioning now it is a part we can not follow completely but teshuvah is possible without sacrifice and offerings and always was.
Jer 7:22 For I spake not unto your fathers, nor commanded them in the day that I brought them out of the land of Egypt, concerning burnt offerings or sacrifices:
But this thing commanded I them, saying, Obey my voice, and I will be your God, and ye shall be my people: and walk ye in all the ways that I have commanded you, that it may be well unto you. Hos 6:6 For I desired mercy, and not sacrifice; and the knowing of God more than burnt offerings.
1Sa 15:22 And Samuel said, Hath the LORD as great delight in burnt offerings and sacrifices, as in obeying the voice of the LORD? Behold, to obey is better than sacrifice, and to hearken than the fat of rams.
No, Torah is not a guideline it is a plumb line, it is the ideal to which we work to attain just as Yeshua did. HaShem knew we would not always choose His way or even be certain what the right way was at times. But He has given us instructions on how to return when we have stepped off His path. Mercy and grace are not new to the NT HaShem is not concerned with us being perfect all the time but that we admit and learn from our errors, sins, transgressions, etc.. He wants us grow in obedience, and train ourselves so that our normative desire is to stop rebelling against Him (which is really what intentional sin is). HaShem recognizes that we can also unintentionally miss the mark and really is only asking that we admit it when we become aware of it and repent. Yes, He has given a system of making restitution when our intentional or unintentional sins harm others but He does not require recompense for Himself when we sin against Him- He requires repentance and return.
So if the spirit of the law is about "Forgive them Father for they know not what they do." then Torah also contains the spirit of the law as it always gave us the means to be forgiven.
You seem to be a moral, caring and compassionate person or at least you seem to desire to be. If this is true you are keeping Torah in ways that you do not recognize. You do not need a loophole unless you are unwilling to admit that you have ever missed the mark. I do not get that from you writing.
You do not need to be Jewish or even follow all the teachings of Judaism to be called a child of HaShem. But not everyone who enters the Kingdom of HaShem bears that particular title although I do believe all who do enter His Kingdom will at some time. It is according to what you do not who you are that makes one HaShem's child.
It is really a matter of choice--
Deu 30:19 I call heaven and earth to record this day against you,
that I have set before you life and death, blessing and cursing: therefore choose life, that both thou and thy seed may live:
This post feels a little disjointed so I hope you can understand what I have tried to express.