I agree that God cannot change what is true, in fact no one can. I don't understand what you mean that, "we can and should change our interpretation of God's truth when reason and facts lead us that way." Perhaps you could give an example of this.
Also, I have never experienced the Spirit telling me anything and if it were telling me something how would it do it and how would I know it was the Holy Spirit rather than an evil one. I also don't understand what 'ideas' you are suggesting that the Church has had to change nor have I noticed any attempt by the Church to control me and that is over 7 decades. I don't have any difficulty accepting the truths which the Church holds to be infallible. 
All in all I'm afraid I didn't understand most of what you wrote.