I am Jewish and can only speak to that.  The more liberal sects of Judaism (Reform and Reconstructionist) seem to be closer to what you are looking for.  Not there, but closer.  One of the things that both tend to push, especially in regards to some of the laws that look a little odd to modern people, is this idea of, if it is meaningful to you, then do it.  So do or don't keep kosher depending on how meaningful to you it is.  For some, that might mean just avoiding pork for others, it means not worrying about it at all.

The chosen people thing has always bugged me a bit, as well.  I do like the idea of tikkun olam (repairing the world).  I liken it to "the campsite rule", where you leave this world a little better than it was when you came into it.  This doesn't mean converting people, or doing good things to buy a golden ticket to heaven, it means doing good, to make the world today a better place, that might mean charity or helping at Habitat, or something else.