Was Peter still in accord with the Lord even though he was steeped in legalism?

Yes. Peter was still steeped in legalism and had not had his eyes totally opened to the Pauline truths, yet he was in perfect accord with his Lord as far as it went. His spiritual aspect is not diminished, but he could not yet comprehend being totally out from under the Law.

Les explains that he has a warm place in his heart for Peter and understands Peter's position. Peter was still steeped in legalism and had not had his eyes totally open to those Pauline truths, so he was in perfect accord with his Lord as far as it went. Les does not take anything away from Peter's spiritual aspect, but Peter could not comprehend what it was to be totally out from under the Law.

Galatians 2

What was Peter's problem regarding the law and the Gentiles?

Peter struggled to accept that he was no longer under the law and was free to eat and converse with Gentiles. This still bothered him. In Galatians 2, though he had eaten with Gentiles at Antioch, he withdrew when Jews from Jerusalem arrived, fearing what they might say.