“’Therefore, there is no longer any condemnation awaiting those who are in union with the Messiah Yeshua. Why? Because the Torah of the Spirit, which produces this life in union with Messiah Yeshua, has set me free from the “Torah” of sin and death.”
To understand this it is helpful to read how the Bible defines the flesh.’” Romans 8:1-2 "For he is not a Jew who is one outwardly, nor is circumcision that which is outward in the flesh; but he is a Jew who is one inwardly; and circumcision is that of the heart, in the Spirit, not in the letter; whose praise is not from men but from God." Romans 2:28-29. The flesh refers to mere human nature and outward observance. You can do a lot of "right things" and not have a right heart.
Yeshua, address this issue a lot, "’You have heard that it was said to those of old, “You shall not commit adultery.” But I say to you that whoever looks at a woman to lust for her has already committed adultery with her in his heart.’" Matthew 5:27-28. Was Yeshua advising we not follow the law of do not commit adultery anymore by saying lusting after a woman means you committed it? Of course not. You cannot claim to be under the Spirit and not committing adultery in your heart while physically doing so. In contrast, you can’t commit the physical act adultery if it is not in your heart.
Yeshua is saying righteousness is not found by mere outward observance of laws. There needs to be a change of heart because not just committing evil outwardly isn’t enough. We need to actually be pure to be good, because otherwise we are not really better people we are just covering up our evil wishes. That is why when asked what is the most important law "Yeshua said to him, '"You shall love the Lord your God with all your heart, with all your soul, and with all your mind."’ This is the first and great commandment. And the second is like it: ‘"You shall love your neighbor as yourself." On these two commandments hang all the Law and the Prophets.” Matthew 22:37-40
You can't claim to love God first and disregard God's law by putting your wishes first, or claim love your neighbor while murdering him, stealing from him, etc... Love doesn't replace the moral laws it summarizes it. If you are follow the Spirit and not the mere letter you won't do anything against the law of God. But someone walking according to the flesh might device himself like the rich young ruler in Matthew 19 by claiming to have kept all the Commandments- since his youth when in reality he wasn’t even keeping the first one about having no gods besides God by refusing to follow Yeshua give money to the poor.
You can observe the letter of the law while failing to follow the Spirit of it. That is why Yeshua said "“Woe to you, scribes and Pharisees, hypocrites! For you are like whitewashed tombs which indeed appear beautiful outwardly, but inside are full of dead men’s bones and all uncleanness." Matthew 23:27 “I say then: Walk in the Spirit, and you shall not fulfill the lust of the flesh. For the flesh lusts against the Spirit, and the Spirit against the flesh; and these are contrary to one another, so that you do not do the things that you wish. But if you are led by the Spirit, you are not under the law.
Now the works of the flesh are evident, which are: adultery, fornication, uncleanness, lewdness, idolatry, sorcery, hatred, contentions, jealousies, outbursts of wrath, selfish ambitions, dissensions, heresies, envy, murders, drunkenness, revelries, and the like; of which I tell you beforehand, just as I also told you in time past, that those who practice such things will not inherit the kingdom of God. But the fruit of the Spirit is love, joy, peace, longsuffering, kindness, goodness, faithfulness, gentleness, self-control. Against such there is no law. And those who are Christ’s have crucified the flesh with its passions and desires. If we live in the Spirit, let us also walk in the Spirit. Let us not become conceited, provoking one another, envying one another. Galatians 5:16-26
Some may say, because it says in verse Galatians 5:18 "But if you are led by the Spirit, you are not under the law." To claim that you don't have to concern yourself with God's law anymore but please note that against the fruit of the Spirit there is no law. Meaning that if we are following God's law we are not under the penalty of death not that disobedience to God no longer leads to death.