Philosophers have had thousands of years of deliberation with no concrete and objective consensus on the subject and priests have manipulated people for thousands to believe that they only have the agency to submit, not the agency to act freely.

I understand your point that law and ethics are not same. My question is when, where, why, how and with whom do these supposedly distinct concepts originate in a world where conclusions are require incontrovertible proof and not mere belief or peddling thereof?