We are personalities in the making, limited, and grappling with things too high for us. Obviously we, at very best, will make many mistakes, but these mistakes need not be sins.
When we think of the ideal, we do not add virtue to virtue, but think of Jesus Christ, so that the standard of human life is no longer a code, but a character.
You cease to move into yourself, away from others. You give up your antagonism. You begin to move toward others in love. God moved toward you in gracious, outgoing love, and you move toward others in that same outgoing love.