For freedom Christ has set us free; stand firm therefore, and do not submit again to a yoke of slavery .... For you were called to freedom, brothers. Only do not use your freedom as an opportunity for the flesh, but through love serve one another. For the whole law is fulfilled in one word: “You shall love your neighbor as yourself.” But if you bite and devour one another, watch out that you are not consumed by one another. (Galatians 5:1,13-15 ESV)
The legalist and the sensualist will never benefit from or contribute to Christian fellowship, intimacy, and solidarity because their lives stand in contradiction to the heart of the gospel.