That Hegel's theory is derivative from Fichte's does not prevent it from being strikingly original and of independent value.

We can establish empirical criteria for free actions, and investigate human actions on the presupposition we are free.

We cannot predict the effects of our actions, especially our collective actions over generations or centuries, to use instrumental reasoning toward these big final ends to tell us what we ought to do.

What is central to morality is rational self-constraint (acting from duty), in cease where there is no other incentive to do your duty except that the moral law commands it.

Kant was a rational theologian. He did not pretend to be a biblical or revealed theologian.

Kant has been famous for his rejection of eudaimonism, but I think Kantian ethics has a great deal in common with Aristotle, and some things in common with Stoicism as well. The traditions tend, I believe, to talk past each other when it comes to happiness or eudaimonia.

Clearly no working class movement ever came about that was able to do what Marx was hoping for.