In my view, there was a long period in which analytical philosophy had little to say about ethics. I think their intellectual tools did not do well with it, and analytical philosophy was above all about revolutionizing the philosophical tool box. It was more or less assumed that the Truth about ethics was some form of utilitarianism (perhaps because some consequentialist calculus looked to them like a respectable tool). Kantian ethics was then interpreted as a particularly odious version of the False - "deontology" - and treated with contempt.

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

Fichte is a necessary step to both Hegel and Marx.

Being aware of truths about what is good or right or about what we ought to do is not the same as deciding what to do. Nor can the former truths be derived from decisions about what to do, or about procedures for making such decisions, unless these procedures themselves rest in some way on the apprehension of truths about what we ought to do.

There is no author or legislator of the moral law. It is simply valid in itself in the nature or essence of things. We become autonomous only when we obey it, because then our will aligns itself with the objectively valid law, and our choice follows the same law as that we give ourselves. We can think of rational faculty (or the idea - the pure rational concept, not exhibitable in experience) as the legislator or author of the law because reason recognizes an objective standard, and to that extent is already aligned with objective moral truth.

Empiricist philosophy always tends to be anti-philosophy (and is often proud of it).

Kant does not think there is anything wrong with being beneficent from sympathy. He thinks we have a duty to cultivate sympathetic feelings by participating in the situations of others and acquiring an understanding of them. He thinks we also have a duty to make ourselves into the kind of person for whom the recognition that something is our duty would be a sufficient incentive to do it (if no other incentives were available to us). That's what he means by "the duty to act from the motive of duty".