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Context clearly indicates David was killing so as to have Uriah's wife. There is no defense for that, and, of course, the end of the Biblical story makes that clear. Not so with Ehud. His act is seen as a virtuous act of heroism and an answer to the prayers of the faithful. There is not a single trace of divine judgement towards Ehud anywhere in scripture, or towards Rahab, or towards the midwives, or towards Jesus for overturning the money changers' tables.

The Bible is not really a simple man's game. The definition of heresy is literally to lift one truth out of the whole and make it your gospel hobby. That is precisely what John MacArthur is doing, and it really is no more than cowardice, because the truth is it is much easier, much less stressful, much more comfortable to simply obey any and all edicts that come down from the magistrate, but that is simply not the plain spoken word of scripture, nor is it the story of our Lord.

I count it a victory for the story of Christian civilization that the Nuremberg trials did not accept your logic, and your excuse--"I was just following orders."

I'm not sure what the draw is about Ehud. This is what the scriptures have to say about Ehud.

Jdg 3:15 But when the sons of Israel cried to Jehovah, Jehovah raised them up a deliverer, Ehud the son of Gera, a Benjamite, a left-handed man. And the sons of Israel sent a present to Eglon the king of Moab by him.
Jdg 3:16 But Ehud made himself a dagger which had two edges, a cubit long. And he tied it under his clothing upon his right thigh.
Jdg 3:17 And he brought the present to Eglon king of Moab. And Eglon was a very fat man.
Jdg 3:18 And when he had finished offering the present, he sent away the people who carried the present.
Jdg 3:19 But he himself turned again from the graven images by Gilgal, and said, I have a secret message for you, O, king. And he said, Keep silence. And all that stood by him went out from him.
Jdg 3:20 And Ehud came to him. And he was sitting in the cool roof room which he had for himself alone. And Ehud said, I have a message from God to you. And he rose out of his seat.
Jdg 3:21 And Ehud put forth his left hand and took the dagger from his right thigh, and thrust it into his belly.
Jdg 3:22 And the haft also went in after the blade. And the fat closed upon the blade, so that he could not draw the dagger out of his belly. And the dung came out.
Jdg 3:23 Then Ehud went forth through the porch, and shut the doors of the room upon him, and locked them.
Jdg 3:24 And when he had gone out, his servants came. And they looked, and, behold, the doors of the roof room were locked, they said, Surely he is covering his feet in his cool roof room.
Jdg 3:25 And they waited until they were ashamed. And, behold, he did not open the doors of the room. And they took a key and opened them. And behold, their lord had fallen down dead on the earth.
Jdg 3:26 And Ehud escaped while they waited, and passed beyond the graven images, and escaped to Seirath.
Jdg 3:27 And it happened, when he had come, he blew a ram's horn in the mountain of Ephraim, and the sons of Israel went down with him from the mountain, and he before them.
Jdg 3:28 And he said to them, Follow after me. For Jehovah has delivered your enemies the Moabites into your hand. And they went down after him and took the fords of Jordan toward Moab, and did not allow a man to pass over.
Jdg 3:29 And they killed about ten thousand of the men of Moab at that time, all lusty, and all men of might. And there did not escape a man.
Jdg 3:30 So Moab was subdued under the hand of Israel that day. And the land had rest eighty years.

That's all it states. All it states about Ehud is that he was God's deliverer. I see nothing in scripture that states this was a "virtuous act of heroism" nor do I see it as an "answer to the prayers of the faithful". Israel would continuously sin and when God's punishment got too great they would cry "uncle".

There is not a single trace of divine judgement towards Ehud anywhere in scripture, or towards Rahab, or towards the midwives, or towards Jesus for overturning the money changers' tables.

Who said anything about judgment against Ehud, etc.? Sin does bring consequences as David found out, but if you're a believer it does not bring divine judgment. There is a difference between consequences and judgment. Even though David's sin was reprehensible, God still loved him.

The definition of heresy is literally to lift one truth out of the whole and make it your gospel hobby. That is precisely what John MacArthur is doing,

Keep in mind that John MacArthur has a whole group of historical commentators to back him up. Unless you can offer a plausible explanation to Romans 13, I'd be careful about who I'd be saying is "lifting one truth".