More importantly, God establishes the law concerning the altar as a way of remembering what God did and is doing in the life of the people. Yet this is still linked to the first law of who God is. God is the God who delivered God's people from the land of Slavery. Altars are not to place God under restriction but to remind us of who God is. Unfortunately later, after Solomon built his temple to God, the other altars were destroyed in order to place God in a location. And that Temple, in and of itself bends toward the direction of negating the 1st commandment. Temple worship replaced worshiping the living God.
Part of God's joy in giving the commandments and laws to us is to keep us in healthy relationship with God. Sacrifice at the altar reminds us of God's sacrifice of God's son, Jesus, to put us back into right relationship with God. And since sacrifice was the main purpose of remembering this God who has led us out of slavery and sin, what are we laying at the foot of God's altar as a sacrifice of our lives for the benefit of our healthy relationships with God and with one another?