Yeah I really admire people who say 'no regrets' but unfortunately that's far from how I feel...despite being really thankful for all my many blessings.
Back to the OP, torn I am a believer, as you know, and go to church. Most Protestant churches believe (tho they don't talk about it much) that people go to heaven, and sometime in the future, there is an earthly hope, when 'the tent of God will be with them.' They do not speculate too much on the details, but an earthly hope is definitely in their belief system. I personally yearn for both heaven and earth.
Incidentally, in my mainline church, hell is spoken of as a 'separation from God.'
I agree about many, many passages in the Old Testament that bother me. I feel that Jesus came to earth to explain what God is, and before that there was a primitive understanding. And taking a fundamentalist view of the scriptures is unhealthy, but allowing for human favoritism and weakness and the times it was written in, and errors of translation...allows me to keep some perspective on it.