The Gentiles and the Jews

Peter describes the law as a yoke to be put on the neck of disciples that neither our fathers nor we have been able to bear. Why would peter seemingly present the law so negatively? It seems that he regarded the law as an incredibly onerous thing. To be truly and fully observant was incredibly difficult and costly. The law is being insisted upon purely out of fear of the jews, rather out of any true conviction. If god had truly cleansed the hearts of the gentiles by ath, why would they need to go through all this rigmaral just to keep some jews happy? God had clearly accepted them as gentiles, so why would they needs to become