I don’t think there is only one best way for everyone. For people who have always done the right things throughout their lives, that is the best way for them to forge a relationship with G-d. For people who have strayed from the path and then found their way back on, that was the best way for them to forge their relationship with G-d. Everyone has their own path. The important thing is to learn from mistakes and make yourself a better person because of it.
There’s a line from a song I like that goes as follows:
“Sometimes you’ve got to be wrong, and learn from mistakes.
I live with serenity now, not self-righteous hate.”