May Allah forgive our sins and change our bad characteristics into good characteristics and take away our sins and instead of our sins change them into good deeds. Keep your way. If your heart is in satisfaction, if you can find contentment through yourself that means you are on the right path. If your heart is in contentment that contentment will take away doubts and hesitation from you.
Real faith prevents something of hesitation or doubt to enter the heart.
If you reached the point that you never feel doubt and hesitation through your heart that means you are on the right steps to Allah. Also you may look after your intention. Because intention it is like the wheel of the car, giving direction to people. If you lost it that car is useless. You can't use it.