Romans 5:12 This is what happened: Sin came into the world by one man, Adam. Sin brought death with it. Death spread to all men because all have sinned. (NLV)
We can't escape this fact. We-are-sinners. We can do good or not do good. Our activities have no bearing on the penalty of sin - only our faith in Jesus Christ who already paid the penalty for our sins. We can either choose to accept His offer of salvation... or not.
It is my disposition regarding myself that is sinful. My sin is whether or not I believe I need God or if I am my own God. Our sin is rooted in our self-actualization - our selfishness. Ironically, our sinfulness comes from the liberty God has given us. Liberty gives us freedom to disobey and deny to go my own way and fulfill my own desires in my own way, in my own time. It's all about me. What I did. What I do. What I think and want.
Condemnation does not come with sin. It comes when I realize Jesus came to deliver me from it and I refuse to let Him do it. Condemnation is not that I am born with a heredity of sin, but if when I realize Jesus Christ came to deliver me from it, I refuse to let Him do so,..."And this is the judgement" (the critical moment), "that the light is come into the world, and men loved the darkness rather than the light." ~My Utmost for His Highest, Oswald Chambers
I cannot give my all to God and, at the same time, keep a self-centered, sinful disposition. And God always knows the disposition of my heart.