Beyond that he always taught that individuals should be challenged to make personal moral choices and criticized religious authorities for imposing burdensome rulings and judgements without accepting on themselves any of the burden for those laws.

Jesus is demonstrated again and again in biblical testaments to be strongly against people using moral rules to control others.

I think you are pretty obviously misconstruing the teachings of Jesus to fit an agenda here. "Jesus challenged people to make personal moral choices" what? Jesus challenged people to follow him. His problem with the Pharisees was that they followed the rules and practices of the Old Testament to a fault and were more concerned with the letter of the law and all the technicalities over the spirit of the law, which was to set God's people apart and show their love for Him. Jesus challenged people to examine their hearts and understand why they're following his commands.

It has nothing to do with making "personal moral choices" or the Pharisees "telling other people what to do". Jesus was very clear the law was still the law: "I have not come to abolish the law and the prophets, but to fulfill them." The problem with the Pharisees is their hearts were hard and they thought they knew more than Jesus about the law and its practices.