What was so wrong with Nadav and Avihu bringing a korban that Hashem didn't command? Why could they not add to the avodah? Rav Hirsch explains that the whole concept of avodah is to fulfill the commands and will of the master. The many halachot, details and intricacies in Seder Kodshim are all part of the avodah. One who deviates from this is not doing avodah but rather is serving his own heart's desire.
There were some avodah arah with strange ways of serving it such as baal paor where one would defecate themselves before the avodah zarah. Why would it have such a denigrating avodah? Because the root of the adovah zarah was in essence serving one's own desires. The avadoh zarah was a mean's to appease the forces for one to do what they desire. It is a means of allowing one to do what their heart desires. The Torah understands that avodah must be the opposite. It is a means of coming close to Hashem according to how Hashem desires.
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