The reason we behave (well some of us) is down to empathy. Most people cannot kill. Well known problem in wars that one. First war they found people would shoot to miss. It is a bugger. Until they killed the first one.
Anyway, if your empathy is normally developed you do not harm other people because you can feel and understand the pain they can. It also drives us to do good. Empathy does not need god to explain it. It has worked from an evolutionary perspective and so we have it. Or at least to different degrees. I feel sorry for those who need a god to give them the notion of what is right and wrong as they must be have pretty low innate empathy.
Maybe religions survival as a meme has resulted in the need for empathy to wain over generations being replaced by genes that code for obedience and selfishness (you behave because god tells you too and you will be rewarded)
Now there is a thought - the presence of religion and belief has acted as a selection agent against genes coding for greater empathy in the population, thus making the religion meme more likely to survive in the population. Ironic indeed. Perhaps as the selection process continues those with genes that predispose them to hearing voices will also have a better chance of passing on their genes? So to answer the original poster, there may be no hope that you will ever hear or feel god but if you have children with some of the luckier ones on this board your future generations will also have that gift.