We do not inherit Adam and Eve's sin, original sin, for that is their sin, and everybody will bear their own sin.
It would of not entered Adam and Eve's mind to sin unless an outside source tempted them, so God allowed Satan to tempt Eve and she sinned, and then Eve was the outside source that tempted Adam by showing him she did not die, and no harm came to her.
When they sinned then they had a choice between good and evil, so all their offspring will have a choice between good and evil, so we are born not knowing God, so we will sin before we come to God and repent of our sins, so all are sinners that have fallen short of the grace of God.
But we are born innocent with no sin on our record, which is why the Bible says the angels always behold the face of the Father for the little ones, for they are protected spiritually when they do not have any sin on their record.
But we will sin before we come to God and repent of our sins.
But it is not our fault for our condition of being born not knowing God, and sinning, for we could do nothing about it, but there is no excuse because we still have to do right and not wrong when we know right from wrong.
Lucifer was created perfect in his ways until iniquity was found in him, so the angels had a choice, and Lucifer and some of the angels rebelled, and Lucifer's name became Satan to identify with his new identity, and they became known as devils.
The angels that are with God now cannot sin, for they stayed with God so they do not have a choice, but only see the ways of God like the saints when they are with Jesus will not have a choice anymore and cannot sin, but they are not robots for the angels and saints already made the choice beforehand.
A fallen angel cannot be redeemed for there is no way to put off the sin, for when they sinned they tainted their entire being.
A human can be saved despite their sins, for all sins reside in the flesh, which Paul said there is no good thing that dwells in the flesh, and the Spirit and flesh are contrary to each other, and when their sins are forgiven and they are saved they can put off the flesh, and the soul is preserved, which shall have a glorified body.
So while it is the flesh that can condemn us, it is also because of the flesh we can be saved for we can repent of our sins, and put off the flesh.