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Exo 20:8 Remember the sabbath day, to keep it holy. Exo 20:9 Six days shalt thou labor, and do all thy work; Exo 20:10 but the seventh day is a sabbath unto Jehovah thy God: in it thou shalt not do any work, thou, nor thy son, nor thy daughter, thy man-servant, nor thy maid-servant, nor thy cattle, nor thy stranger that is within thy gates: Exo 20:11 for in six days Jehovah made heaven and earth, the sea, and all that in them is, and rested the seventh day: wherefore Jehovah blessed the sabbath day, and hallowed it.
Before this in chapter 16 they gathered the manna on 6 days out of 7.
Exo 16:22 And it came to pass, that on the sixth day they gathered twice as much bread, two omers for each one: and all the rulers of the congregation came and told Moses. Exo 16:23 And he said unto them, This is that which Jehovah hath spoken, Tomorrow is a solemn rest, a holy sabbath unto Jehovah: bake that which ye will bake, and boil that which ye will boil; and all that remaineth over lay up for you to be kept until the morning. Exo 16:24 And they laid it up till the morning, as Moses bade: and it did not become foul, neither was there any worm therein. Exo 16:25 And Moses said, Eat that to-day; for to-day is a sabbath unto Jehovah: to-day ye shall not find it in the field. Exo 16:26 Six days ye shall gather it; but on the seventh day is the sabbath, in it there shall be none. Exo 16:27 And it came to pass on the seventh day, that there went out some of the people to gather, and they found none.
Hardly sounds like Pharisaical legalisms. God was doing this even before the 10 commandments.
You have made an error.
The subject at hand is not 'whether the Sabbath', but rather, whether Yeshua broke Sabbath by gleaning grains on the side of the road as they went. It is a Pharisaical legalism which specifically defines that one cannot pluck grains, as it is considered as work.
The Seventh day Sabbath was ordained of YHWH in the very beginning (Creation), and will stand forever. Yeshua did not break the Sabbath.