Heaven is absolutely for people who struggle.
Scriptures to reflect on this theme:
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1 John 1:8-9 (NKJV): "If we say that we have no sin, we deceive ourselves, and the truth is not in us. If we confess our sins, He is faithful and just to forgive us our sins and to cleanse us from all unrighteousness."
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Matthew 11:28-30 (NKJV): "Come to Me, all you who labor and are heavy laden, and I will give you rest. Take My yoke upon you and learn from Me, for I am gentle and lowly in heart, and you will find rest for your souls. For My yoke is easy and My burden is light."
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2 Corinthians 12:9-10 (NKJV): "And He said to me, 'My grace is sufficient for you, for My strength is made perfect in weakness.' Therefore most gladly I will rather boast in my infirmities, that the power of Christ may rest upon me. Therefore I take pleasure in infirmities, in reproaches, in needs, in persecutions, in distresses, for Christ’s sake. For when I am weak, then I am strong."
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Psalm 34:18 (NKJV): "The Lord is near to those who have a broken heart, And saves such as have a contrite spirit."
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Romans 7:18-19, 24-25a (NKJV): "For I know that in me (that is, in my flesh) nothing good dwells; for to will is present with me, but how to perform what is good I do not find. For the good that I will to do, I do not do; but the evil I will not to do, that I practice... O wretched man that I am! Who will deliver me from this body of death? I thank God—through Jesus Christ our Lord!"