The best replacement for legalism is grace.

The best alternatives to legalism are rated as following:
★★★★★  grace
★★★★★  confucianism
★★★  obedience
★★  holiness
★★  daoism
★  taoism
  antinomianism

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Speaking about legalism, one probably shouldn't forget about confucianism.

Other search terms related to legalism and their ratings are:
★★★★★ confucianism
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