This is what the book of Deuteronomy has to say about the oppressive, burdensome sacrificial system:

ch12 - You shall eat your sacrifices before YHWH your God and rejoice before him.
ch14 - You shall eat there before YHWH your God and rejoice.
ch16 - You shall rejoice before YHWH your God.
ch26 - You shall rejoice in all the good that YHWH your God has given to you and to your house.
ch27 - You shall rejoice before YHWH your God.

I don't know how anyone survived it.