The idea of God judging people from afar is an extension of the important humans place on social conformity. We are hard wired to care about what other people think of us. If you remove the religious decorarions then that underlying trait still exists.
Totally not my experience. My lizard brain doesn't want to keep the Sabbath, or spend an hour at the temple, or to donate a lot (or anything) to charity, it doesn't really want to bother raising my kids a certain way, or to be discriminant in my diet, sexual behavior, etc.
It is my higher-level self that sees the elevating function of these things and struggles to override my lizard brain for daily control. When it succeeds, it's glorious. When it fails, I am still happy to have fought.