I had a lot typed out about Law and Gospel, but then I realized, where we truly differ is right her
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The idea that we are slaves to either sin or righteousness also takes away our own responsibility and culpability. If we have no choice, then we are not ultimately responsible for our sins.
I think we have choices and we are responsible for our sins, but we need to square up Paul's anguish above about his flesh doing things he doesn't want it to do and with death itself.
We have free will, when it comes to our daily actions.
But the Law demands perfection and our decisions or works will never be perfect. There's always a flaw in the works we do. So while the Law sound simple, we start off failing.
But this is why the Gospel exists. If we could do it on our own, we wouldn't need Christ.
So as diehard pointed out above, it's tough to reconcile that God's in complete control, yet we want to be responsible for (some) of our actions (generally the good ones). I don't think it works to say that your actions or works are yours, yet you believe solely in Jesus is the only way to heaven. I really look at this and see the slavery that you're trying to avoid.
Paul responded to your question this way:
Romans 6:1-4
"What shall we say, then? Shall we go on sinning so that grace may increase?
2 By no means! We are those who have died to sin; how can we live in it any longer?
3 Or don't you know that all of us who were baptized into Christ Jesus were baptized into his death?
4 We were therefore buried with him through baptism into death in order that, just as Christ was raised from the dead through the glory of the Father, we too may live a new life."
Paul found real freedom in know that Jesus gave him the freedom to live his life. It's important to note that this comes before his acknowledgement above that his flesh is still causing him to sin. So he's finding the freedom in God's grace, while knowing he is going to continue to sin.