Psalm 145:18 says, ” The Lord is near to all who call upon Him, to all who call upon Him in truth.”
If this verse were to stop at the comma, it would not matter how anyone calls upon God. They can call upon Him in anyway they imagined. But, the verse does not end at the comma, it continues with this, “to all who call upon Him in truth.” This means that anyone can call upon God, but it also means that God is only near those who call upon Him in a certain way. In truth. What does that mean, to call upon God in truth? Listen to the Westminster Confession of Faith for the answer:
…the acceptable way of worshipping the true God is instituted by Himself, and so limited by His own revealed will, that He may not be worshipped according to the imaginations and devices of men, or the suggestions of Satan, under any visible representation, or any other way not prescribed in the Holy Scripture. (21.1)
So are you free to worship God in any way you please? No. It does not matter what culture you live in, if God has not told you to worship in a certain way you want to, you may not do it and you are not free to do it. You may only worship God in the way He desires to be worshipped. You may only come to God in the way He desires for you to come. You are only near to God if you come to Him in the way He has chosen, through His Son.