My own view of this is that it is the other way round. Sin separates us from God because God in his mercy chooses not to look at it, not because we are tarnished by it.
God tells Moses that no man can look on God and live. This is not because God is sadistic, it is because God's love and holiness are so powerful that they will burn up anything they look upon which is not equally loving and holy. So in our natural state God does not turn his face full upon us, because to do so would destroy us.
It is only when, through Christ, we become as perfect and holy as he is, that God can look at us face to face, and we can, in turn, look at him. The unequal exchange is not just about mortality, but it is also about holiness. Christ exchanges his Divine perfection for our human imperfection (not of behaviour but of existence), and offers us his own perfection.
Sin is, therefore, nothing to do with what we do, and everything to do with who we are in relation to God. In which case it is meaningless to say, God I pray to you, I focus my life on finding your will and following it, and yet I am a sinner. The two do not go together. We can say that we have sinned and gone astray, and ask forgiveness for this, but God does not see that sin, and is not interested in it. He is interested in how much we reflect the life and example of his son in what we do.
I disagree with this. Fundies may be many things, most of them barking mad, but they are not hypocrites, imo. But they do have a tendency to notionally enter heaven with the most fiendish of sins, and then close the door behind them to a very narrow gap indeed.