Why would we push the limits, or the envelope, without being pushed to by the nature of our circumstances? Under normal operating conditions, it is the savvy thing, the wise thing, to wait for the door to open, and then walk through. No guideline applies across all conditions. The rule across all circumstances, times and places is "Be right about what needs to be done and do it when it needs to be done, the way it needs to be done, in each situation as it arises." If we can't be right, and can't wait, we make our best guess about what is right, and proceed carefully, guessing again as necessary, and proceeding carefully again, etc. The situation dictates the action. Imposing our idea of the action upon all situations because bulldozing doors is what we do best and like to do most is not going to meet the test of being right about what needs to be done. And it will create resistance, and a backwash of circumstances that will be a long time abating. We sew the seeds of the future by the way we respond to the present, and "a word to the wise is unnecessary" (Southern axiom).
Attuned to our circumstances, aligned with the times, in touch with what is called for, at one with our original nature, we are prepared to do what needs to be done, when it needs to be done, the way it needs to be done, in ways appropriate to the occasion. All that remains then is the courage to do it, overriding cultural/social norms and responding spontaneously out of an innocent and noble heart to the time and place of our living. When it all comes together, we dance with the music of the spheres, and with the elves and leprechauns who have been waiting for just such a moment, and hoping it would be here, now.
Jesus lived without an eye on what was in it for him. Imagine that if you can. Jesus lived to be who he was, without anything to gain for so doing. Jesus lived to express/exhibit/reveal/ incarnate/serve the gifts/daemon/shtick/proclivities/virtues/etc. of his original nature, anyway, nevertheless, even so. Jesus lived to do what needed to be done, when it needed to be done, where it needed to be done, the way it needed to be done, in each situation as it developed, no matter what. For the joy of doing so, and the delight/satisfaction of having done it. This is the only thing that separates Jesus from the rest of us. The more like this we can live, the more like Jesus we will be. All it takes is living from the center, like babies fresh from the womb, all our life long.