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>Is it possible that God is helping us become more advanced morally slowly over time? In a sense, working with us at our own speed?
Moral law is by definition eternal. Juridical law is by definition bound to places and times.
>An example I can think of is how adulterers were stoned to death in the OT, and when Jesus comes along, he saves a woman from this fate.
Juridical law of Moses was harsh that's true, but it was just. And was lighter than laws of surrounding nations. It was harsh because Israelites were stiff necked people with hardness of heart, prone to evil. It was pointing to moral law via natural ways of fear. Christ, who did not changed moral law, use supernatural way of grace to point and help keep moral law and merit in it.
>Perhaps the Israelites were not ready to accept what Jesus taught.
Noone is really. But with grace all can be.