He says the Sabbath was created for man not man for the Sabbath. His reaction was to the legalism of the day.

He didn't call it legalism, he called it everything from hypocrisy (heaping up burdens on people) to simply evil (neglecting elderly parent for the sake of ritual).

I meant legalism specifically in the context of Mark 2 but I agree with you.

I think all I'm saying is that there's a middle ground where you go screen/internet free, and avoid things like housework, shopping, planning, and meal preparation in favour of spending time with family, but don't sweat things like non-religious reading, turning lights on and off, and walking to the park.