Adam Clarke draws a parallel with an ox who “hates” (8130). Keep in mind that an ox can be trained to respond to voice commands. That does not mean that it likes to be guided. I would imagine that if an ox could really think, it would rather turn toward that green grass on the side of the road than go straight ahead. In the same way we can learn to do what is right and still hate the limitations.
That could be a basic difference between the law and grace. The law can be followed even by people who do not like it. Grace transforms a heart. Even there I think there is a limitation to those who come willingly. And we come from where we are.
(Mar 9:24 KJV) And straightway the father of the child cried out, and said with tears, Lord, I believe; help thou mine unbelief.So? I would call on God to transform my heart in such a way that I welcome those situations that help me, or force me, to grow.