The best soldier fighting for his fellow people not only obeys orders; he learns the whys and wherefores of command. The soldier of GOD knows that HIS C-in-C is all-wise and knows/notices EVERYTHING EVERYWHERE.
The soldier of man readies himself to take tactical command if necessary. So does the soldier of God. In every war, there are examples of common soldiers taking command of their unit when all its officers were incapacitated. Many a church has been led by a lay person after the unexpected loss of its pastor. One of the weaknesses of the Gremans in both world wars was their units' inability to take any initiative if they lost their officers.
A human army can even lose its C-in-C as the USA did when FDR died, but the army of GOD is assured that its C-in-C will ALWAYS be there for them, will always be in charge, and that HIS victory is guaranteed.
But He wants us to TAKE SOME INITIATIVE on our own! If you happen across the most-disgusting person you can think of, and he/she asks you for guidance to the Lord, you shouldn't be asking for God's permission to do so...we should be asking Him to HELP US properly witness to this person.
But it CAN be hard. I despise child molestors more than any other type pervert, and would like to see it punishable by DEATH. But several years ago, a police buddy called me and asked me to witness to a convicted molestor who was jailed locally while awaiting transport to the "big house". I was really torn, almost nauseated, as I had generally sought to distance myself as far as possible from such perverts. But the HOLY SPIRIT inspired me to PRAY FOR HIS STRENGTH AND GUIDANCE, while reminding me that JESUS died for that man as well as myself. By the Holy Spirit's help, I was able to look upon him as simply another lost person seeking the Lord, and through His power in shaping my speech, I was able to at least start me on the road to Christ. About 3 months later, I received word that this man had come to the Lord! Now, while I give full credit to the HOLY SPIRIT for his salvation, I realize He wanted ME to take the initiative to bring the Gospel to that man. Now, while I realize the Holy Spirit coulda done it all w/o my help, He had chosen ME for that job, and had I excused myself from it, I woulda been ashamed of myself the rest of my life.
As for legalism...if it cannot be PROVEN FROM SCRIPTURE, & not just GUESSED AT by men, I disregard all of it.