Of course it is always a better aspect of Avodas Hashem, to do mitzvos for their own sake, out of your sense of it being the right thing. But ultimately, EVEN if you only do it because Hashem said it’s good, that is still a good thing. It’s a different level of fulfilling the Torah. Is it better to give tzedaka because you recognize that it’s RIGHT and moral to help another Yid? Of course! But even if you DON’T care about its rightness, if you ONLY give it because it’s a mitzvah to do so, you get sachar. The quality of your Tzedaka might not be as pure as the person who recognizes the value of the mitzvah, but it is still worthwhile to be done on its own merits.
To answer OYOYOY’s last post – Of course Mishpat is moral. Hashem only gave us moral mishpatim.
A. I don’t care what others think. The Torah is ABSOLUTE morality.
B. There are i.e., Catholics who believe it is immoral for a person to get divorced and remarried. The Torah permits divorce and remarrioage, follwoing certain guidelines. I go with the Torah, and the Catholics can do what they want.
C. has been answered pretty extensively here, so I think we have exhausted this question. It is ideal to do a mitzvah lishmah, but even if not, eventually most people will come to do them lishma, if at first they do them just because “Hashem said so.”