Tell it to Jesus. Jesus and Paul were very clear that we would be judged based on our actions. It's not legalism because the basis wasn't how many violations of the law we did, but how we impacted others. Jesus also emphasizes motivation and intent, not checklists. Legalism is assessing people by counting violations of the law. It's also the kind of legal thinking that led to indulgences, time off from purgatory for gazing on relics, etc. Legalism counts sins without also looking at repentance and forgiveness.How is this not legalism?
I would maintain that the best summary of Paul and Jesus is that we are justified by faith and judged by works. God loves us just as we are. But he expects us to respond by obedience, and will hold us responsible. If we don't love others, we're rejecting God's love. You'll find that pretty obviously in Jesus' teaching, and I think in Paul as well. So "salvation" has to include both.
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