You are free to act.
God doesn’t tell us to wait on him to give us pure motivations or authentic motivations (pure motivations would be authentic…), he just tells us to do because it’s him in us working to will and to work his will. And he corrects us when we do wrong. And that’s it.
Something tells me he doesn’t want me to not do just because I might do wrong. Something tells me he will take care of me when I do wrong. That I have the freedom to act,