ROB is correct in a sense. Halakha does contain meta-halakhic values, which poskim do operate within. Torah is perfect, but the human condition is not perfect. People are imperfect. We’re fragile, we’re weak, we succumb to temptation and changing tides of social mores. Our most courageous poskim found ways to enfranchise all and give all of klal yisrael a place at the table, so to speak. Some of these approaches go a little beyond what we may believe to be correct, but nonetheless, they reflect a degree of being attuned to needs and realities.
The Rema allowed Moravian Jews to consume gentile wine.
Rav Chaim Hirschensohn allowed Jewish men, otherwise observant, to shave with a T-Razor.
Rav Yosef Messas argued that a mechallel shabbat can still be trusted for his kashrut, among other psakim many of you would call him a Conservative Jew for.
The Rambam allowed a man to convert his gentile lady of the house to guard him from the sin of intermarriage, even though she wouldn’t be observant.
Perusing responsa demonstrates that poskim were often unafraid to test the limits of the halakha in such a way as to make it relevant and accommodating to the needs of the human condition.