Observing a commandment out of compulsion or naturally

Hello Rabbi,
Has the Rabbi written anything in the past on the subject: keeping the commandments out of struggle and forcing the instinct, versus keeping them out of naturalness and inner desire? Or does he know of any sources on the subject?
Maybe I’ll cite a source for the sake of clarity to make sure I wrote it clearly – there is a lion cub about the mitzvot in which “if” is written even though they are obligatory (as Rashi cites, for example, about “if money lends to my people”) who explains that the reason the Torah used “if” here, as if it were not obligatory, is to teach that these mitzvot are better done out of a natural sense of morality and not just as a royal decree. (I’m not sure I was accurate in what he said, it’s from distant memory. But I think the point has been made clear).
Thank you very much.