How to Overcome Guilt from Sinning and Get Back to Salah

As-salamu alaykum everyone. I've been struggling with something and wanted to share. There was a time when I felt really close to Allah, but then I committed a sin and let it pull me away to the point where I even stopped praying. Today, I decided to take one step back toward Him by praying just one salah, hoping to build consistency slowly. But when I stand in prayer, it feels strange-like part of me wants to quit and return to the sin. Afterwards, I'm hit with this awful feeling: how can I be doing these sins and still pray? It's like I'm stuck between two extremes: either getting extremely close to Allah (which I worry might lead to burnout and me stopping again) or drifting completely away and abandoning salah altogether. Has anyone else been through this? How did you find balance and keep your connection without feeling so guilty?