I think it should be noted that the parable of the prodigal son really starts back with an introduction that sets the stage. It is “The tax collectors and sinners were drawing close to him.”
And we see in others places that Jesus went and sat with the sinners, for what does a righteous person need him for?
Church isn’t really a place only for perfect people. It’s for sinners. Those who fall short. Those who want to draw near to Jesus.
Now they don’t always really even know why, or what is going to happen or whatever. And that’s the only issue I would take with your question is that our relationship with God is not a ledger, not a oops he sinned, take away some of God’s grace and there he did something good that’s worth a couple of bucks of grace. Such an idea takes the gospel and turns it once more into a law.
Now who can keep the law? Do you think the answer to that has changed? No, if you must live by the law then you will die by the law. So do not let the gospel get changed into law.
Anyone who goes to church expecting to get paid for it is in trouble.