First, sinning without intent is preferred to consciously doing the wrong thing. All sins are equally wrong, but all sins are not equally bad. A lustful thought is as wrong as adultery. Certainly adultery is worse.
Having said that, whether or not sin is wrong is a matter of how it accords with God. Neither people nor their intent define morality. God defines right and wrong.
Consider the concise definition of sin in the Westminster Shorter Catechism
Q. 14 – What is sin?
A. Sin is any want of conformity unto, or transgression of the law of God.
So, we can sin by not doing what we ought (sins of omission) or by doing the wrong thing (commission). Either sort of sin can be unintentional. The question is not whether we meant to do it, but, rather, how it accords with the character of God.
Hence, we must know the Word of God! Psalm 119:9, “How can a young man keep his way pure? By living according to the Word of God.”
Very helpful explanation of wrong and bad.
Surely we must always remember the command, “be holy for I am holy”. Isn’t this the surest condemnation of even our best acts, because it speaks directly to our intentions in that all we do and intend to do must be only for the glory of God? This must be why we are told that we need to repent of our most righteous acts.