Most people follow moral norms in the same way any decent person would do. But to have real moral sense you're looking at virtue, which is defined by high moral standards
Reading Kant for me is like walking into a brick wall. There's only a couple of things he said that I can recall as significant. First is the universal law principle, which says we should create no rules that we are unwilling to follow ourselves (a version of "do unto others..."). The second is his special insight upon the nature of
virtues. He said that the only virtue that cannot be used just as easily for evil as for good, is a "good will". It is that single virtue by which we judge a person to be moral.
IMO, a lot of what we call moral behavior is basically done so we can continue to thrive within our social group. Not a bad thing in itself, but having goodwill might only extend to those
who matter to us. If you have goodwill towards your closest friends and family, but cheat or ignore people who don't matter to you, do you really have any moral sense? Or just enough to serve your own purposes?
There was a member here some time ago who described 'the objective good life' as one where we keep all transactions to those we encounter positive. I think the kicker is that this has to apply to
everyone, within reasonable limits.