Indeed. R’Avigdor Miller has a set of 2 seforim (in Hebrew though) called “Shaarei Aroah”. I had a chavrusa on Shabbos learning this sefer. Not only does it teach a person the right derech, but it also gives you an “avdah”, a practical course of action one can easily do. For example, to have more kavanah in bentching etc.
There is also an amazing sefer called “B’lvavi Mishkan Evne” which basically states that all 613 mitzvohs have one purpose only which is kirvas Hashem! For those who want English, I believe there is an abundance B”H of those too.
May we all do the mitzvos with this intention in mind & may we only see good outcomes out of all the improvements we make to bring aliyos to those holy neshamos. May we not need any more tragic reminders to lead us on the right derech & may we be zoche to not have to sit on the floor again this Tisha B’av.