Does G-d care about what’s in your heart?

I hope this is not offensive. I am a secular Jew without any religious relatives and I am just learning more about Judaism as a religion online.

It seems like it’s all about actions that adhere to laws and there is not much talk about what one feels about these actions or feelings in general. Does G-d care if your heart is full of love or hatred toward humanity, Jews or toward G-d himself? Does he care if you follow the laws with enthusiasm or reluctantly?

Thanks in advance for your patience and clarifications!!!