Halacha as a human phenomenon

Rabbi, this subject of Halacha and all the psychological problems it entails gives me problems, such as the problem of the interpretation of the Torah by the Sages, who said that the truth was with them (I understand the claim "do not deviate," but who claims that you should not deviate, that you should listen to the great men of that generation? They themselves determined that it was a commandment, and who claimed that perhaps the intention of the Torah was different, and then this whole phenomenon falls into the seemingly empty shell) and also the connection of how it actually worked, is what the Rabbi wrote also what Moses commanded or is it something else? And of course, the problem of the Talmud, what was its initial purpose to interpret the words of the Rabbis or actually adapt the Torah to their time? And I really want to worship God. I just have to get the questions off my chest. In short, I'm really confused. I would really appreciate it if you could direct me to certain articles that could help me, etc.
And in any case, I really wanted to thank you and tell you that you are truly doing a sacred service and that this whole mechanism that you have built to help people with all kinds of problems is not something that can be taken for granted at all, and I truly thank you from the bottom of my heart.