Halakhic morality versus human morality

Hello Rabbi
I watched your interview with Yaron London about your trilogy, where you addressed the question of human morality versus halakhic morality and noted that for you, both categories obligate you and sometimes there is a conflict between them.
My question is whether the conflict and not the automatic choice in halakhic morality stems from the very limitations that halakhic authority has from the Torah’s command, or whether halakhic authority in matters of morality still has validity from the Torah’s command, but you are still unwilling to accept it, and if so, why?
thanks