Interesting, Bickles. Of course, as Jews, we would argue that ONLY Jews are held to obedience to the 613 Commandments of the Law, and that non-Jews are held to the 7 Laws of Noah, which are as follows, to wit:
Do not deny G-d.
Do not blaspheme G-d.
Do not murder.
Do not engage in incest, adultery, pederasty or bestiality, as well as homosexual relations.
Do not steal.
Do not eat of a live animal.
Establish courts/legal system to ensure law and obedience.
Wikipedia has an interesting article on the subject.
https://en.wikipedia.org/wiki/Seven_Laws_of_NoahBut back to your point. When you say that Angels do not have the privileges of being with G-d in the way that we do, I would agree with that statement. Angels do not have free will in the way that Humans do. Humans COULD fall, because they could choose to obey or disobey G-d. Angels obey because they haven't got a choice in the matter.
As far as perfect obedience to the Jewish Law, well, anybody who thinks they can do that is an idiot. That is of course what sacrifices are for, to atone for sin. In the absence of sacrifices, we have prayers to make up for them, of course. And there are very specific prayers set for each sacrifice. I certainly won't go into detail on the subject, because we would be here all day, but, by way of example, Jews normally pray three times a day. On Saturday, the Holy Sabbath, there is a fourth Prayer, the Mussaf, which is prayed in lieu of the Temple Sacrifice that would have been performed on that day.
And so there is for each sacrifice, a prayer exists to substitute for it until such time as the Temple can be rebuilt and the Fire Offerings of Israel be restored, for which we pray daily.