There are times when some of God's laws appear to conflict, such as when God command priests to rest on the Sabbath, but also commanded priests to make offerings on the Sabbath (Numbers 28:9-10). However, it was not the case that they were forced to sin by breaking one of the two commands no matter what they chose to do, but that the lesser command was never intended to be understood as preventing the greater command from being obeyed. This is why Jesus said that priests who did their duties were held innocent, why David and his men were held innocent, and why Jesus defended his disciples as being innocent (Matthew 12:5-7), so the Pharisees were incorrect to accuse his disciples of breaking the Sabbath.
Jesus set a perfect example of how to follow God's law, and in Matthew 11:28-30, he was inviting people to come to him for rest and to learn from him, not inviting people to refuse to learn from his example. By Jesus saying that we would find rest for our souls, he was referencing Jeremiah 6:16-19, where God's law is described as the good way where we will find rest for our souls. In Hebrews 3:18-19, they did not enter into God's rest because of their unbelief and disobedience, and in Ezekiel 20:13, it specifically mentions that they greatly profaned God's Sabbaths. In Hebrews 4:11, we should strive to enter into God's rest so that no one may fall away by the same sort of disobedience, so rest is not an alternative to obeying God's commands. God has given instructions for how to include Him in all that we do, so it is contradictory to want to include Him in all that you do instead of following those dos and don'ts. In Titus 2:14, Jesus gave himself to redeem us from all lawlessness and to purify for himself a people of his own possession who are zealous for doing good works, so the freedom that we have in Christ is the freedom from lawlessness in order to become free to do good works in obedience to God's law.
In Acts 5:32, the Spirit has been given to those who obey God. In John 16:13, the Spirit has the role of leading us in truth, in Ezekiel 36:26-27, the Spirit has the role of leading us to obey God's law, and in Psalms 119:142, God's law is truth. In John 16:8, the Spirit convicts of of sin, and in 1 John 3:4, sin is the transgression of God's law. In Romans 8:4-7, those who walk in the Spirit are contrasted with those who have minds set on the flesh who refuse to submit to God's law. In Galatians 5:19-23, everything listed as works of the flesh that are against the Spirit are also against God's law while all of the fruits of the Spirit are in accordance with it, so it wouldn't make any sense to interpret Galatians 5:18 as saying that those who are led by the Spirit are not under God's law as if the Spirit had the role of teaching us to rebel against the Father. Rather, Galatians 5:16-18, describes the desires of the flesh as causing us not to do the good that we want to do, which is how Paul described his struggle with the law of sin in Romans 7, so when we are led by the Spirit we are under the Law of God, but are not under the law of sin.
God has given instructions for how to have a relationship with Christ, so it is contradictory to think that our relationship with Christ should not be focused on following those rules. The Hebrew word "yada" refers to relational knowledge gained by experience, such as in Genesis 4:1, where Adam knew (yada) Eve, she conceived, and gave birth to Cain. In Exodus 33:13, Moses wanted God to be gracious to him by teaching him His way that he might know (yada) Him and Israel too. Likewise, in Matthew 7:23, Jesus said that he would tell those who are workers of lawlessness to depart from him because he never knew them, so the goal of the law is to teach us how to know God and Jesus is the goal of the law, which is eternal life (John 17:3).
