With respect, I do get the impression that the writer of the OP seems to be overthinking things. We need to be careful that our logical minds don't lead us down rabbit trails astray of the truth, and let the word inform our minds, instead of the other way around. I've wandered down some rabbit trails too in my life. The way back from a rabbit trail is to allow the word of God to correct any wrong thinking. We need to just let His word instruct us and try not to apply too much thinking, just receive the washing of the water of the word. Start trying to think too deeply and we can actually get into the realm of deep things of Satan.....this is the realm of carnal mind/intellect.....which is the realm of the serpent....Tree of Knowledge.
Adam and Eve fell when they were tempted by the serpent......even angels are subject to temptation, as are born again believers.
The essence of worship..........is "not my will but thy will be done". To deny self (own will) and obey God, that is worship. We are slaves to whom we obey.
We only have two choices, either slaves to righteousness (God) or slaves to sin (self and devil), there is no in between, nor ever has been. When Jesus said to the Pharisees they were of their father the devil, he wasn't indulging in petty name calling.......he was literally telling the truth. Likewise for all of us, either we have God as our father, or the devil as our father......depending on who we worship/obey.
When Adam and Eve fell in the Garden, they received of the spirit of the one they obeyed. This is how they suddenly "knew they were naked", they knew it by the spirit of the serpent they received when they chose to follow him. Tree of Knowledge of Good & Evil.......... they "knew" they were naked. So Satan became their father and God was their father no longer. Satan became their father because of his seed/word that they received, the thought (ye shall be as gods) which conceived and gave birth and begat sin.
Bible says we all like sheep have gone astray, EACH ONE to his own way. Own way/will of course is contrary to worship of God which is NOT my own will/way.......but His. ALL have sinned and fallen short of the glory of God. We all sinned in some way, when we are tempted, just as Adam and Eve were.
God created man because He desired worship (because He was/is WORTHY of it). Perhaps also because God is love He desired objects of His love, He desired to express His love and so created beings in His image who He could love. But as demonstrated, you can't have beings that worship, who don't have a free will since the essence of worship is "not my WILL but thine". Neither robots nor animals can worship.....worship necessitates a free will.....I believe free will has to do with the soul of man. Neither robots nor animals have an eternal soul.
When we are born again and receive Christ........when He comes calling our part is to be WILLING to believe and receive, we open our hearts to Jesus instead of hardening them. We could choose to harden our hearts, as some do sadly, and again that is the exercise of one's will. But when we believe and are given faith not of our own, by His Spirit not of our own, God becomes our Father again, because we have received of His Spirit.
Not necessarily covering every question and detail I think, but prayerfully hoping this is at least useful to the discussion.