I may be wrong , but nowhere does he claim we’re not to obey the commandments. He merely state that we should not use them as a model of our salvation. Salvation came through Christ on the cross, not through the keeping of the laws. The new covenant accomplished what the old covenent could never do. We are saved by grace, not works of our own. This is heresy? I don’t read KJV, and I don’t base my salvation on my following of the old covenant. I guess I’m a heretic.
I’m not sure if that is what Andy Stanley is saying, but I would agree that is what Paul says in his epistles.