I think what people bypass a lot of time is the fact that even "love" is a commandment. Its a law. What ever other things you want to call it. Simply put, its something that requires obedience.
So to say that "law" does not given out of love is blinding fallacy. The point Paul makes through his letters is that we cannot receive righteousness through the keeping of the law. In that regards, when we try to do that, we go astray and put ourselves under bondage to sin. Because we inhabit flesh and that flesh cannot and will not surrender to God's law. So we find this impasse, and can quickly come to the point of 'giving up' to the flesh.
But when in the Spirit, we find ourselves 'separated' from the flesh, and are therefore able to live according to God's law. We do not try to obey, we simply do obey. However, our flesh hates this, and therefore it wars with us. Trying every which way it can to convince our minds that it is wrong. This is why we should be transformed in the renewing of our minds.
Rom 12:2 Do not be conformed to this world, but be transformed by the renewal of your mind, that by testing you may discern what is the will of God, what is good and acceptable and perfect.
To state that the 10 commandments of God are not "good" or "acceptable" or "perfect" is complete nonsense. They are. Sure, they were used to show sin and the need for a Savior. But how is that bad? It can be bad, it can be sin, WHEN they are used to try and be holy before God. When they are looked at as the "way" to righteousness, then they DO become sin in us. Why?
Because, Christ is our aim. His image is our goal. What is His image?
Jhn 14:5-10 Thomas said to him, "Lord, we do not know where you are going. How can we know the way?" Jesus said to him, "I am the way, and the truth, and the life. No one comes to the Father except through me.
If you had known me, you would have known my Father also. From now on you do know him and have seen him." Philip said to him, "Lord, show us the Father, and it is enough for us."
Jesus said to him, "Have I been with you so long, and you still do not know me, Philip? Whoever has seen me has seen the Father. How can you say, 'Show us the Father'? Do you not believe that I am in the Father and the Father is in me? The words that I say to you I do not speak on my own authority, but the Father who dwells in me does his works.
His image was the Father. The Father dwelling in Him, doing His works through Him. Its the same for us. Faith comes from knowing personally who Jesus is, and in that knowing we know that He declared the image of the Father. So faith can be based upon ALL of God's words to mankind.
The 10 commandments, placed inside the ark, are Spiritual characteristics that we find in Christ. If those characteristics are not found in us, then how can we state that Christ is in us?