Shaykh Hamza Karamali explains that God has, in fact, allowed us to do whatever we want–almost! He has placed restrictions, but they are few compared to the tremendous freedoms that He has given us, and the few restrictions that are there are for our own benefit. He then explains that the reason why this question comes to our minds is because of our own immaturity and that the purpose of religion is to raise us from a state of childish immaturity to a state of perfection, like the exalted state of the Messenger of Allah (Allah bless him and give him peace).
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