Reconciling Peter in Acts with Deuteronomy/Psalms on the burden of the Law?

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Peter was referring to the same laws Jesus condemned in Matt. 23:4, "For they bind heavy burdens and grievous to be borne, and lay them on men's shoulders; but they themselves will not move them with one of their fingers."

All of your quotes were from the OT and referred to the OT laws. Peter and Jesus were talking about the man-made laws added on top of those. See Mark 7:7, "Howbeit in vain do they worship me, teaching for doctrines the commandments of men."

As a result, Jesus said in Matt. 11:28-30, "Come unto me, all ye that labour and are heavy laden, and I will give you rest. Take my yoke upon you, and learn of me; for I am meek and lowly in heart: and ye shall find rest unto your souls. For my yoke is easy, and my burden is light."

If they were not burdened, then why would He give this invitation? His "yoke" is indeed light, but the man-made laws the Israelites submitted to were not.

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I think the best way to look for answers is to look to Scripture.

Think not that I am come to destroy the law, or the prophets: I am not come to destroy, but to fulfill. For verily I say unto you, Till heaven and earth pass, one jot or one tittle shall in no wise pass from the law, till all be fulfilled.

Jesus- Matthew 5:17-18

For as many as have sinned without law shall also perish without law: and as many as have sinned in the law shall be judged by the law; (For not the hearers of the law are just before God, but the doers of the law shall be justified. For when the Gentiles, which have not the law, do by nature the things contained in the law, these, having not the law, are a law unto themselves: Which shew the work of the law written in their hearts, their conscience also bearing witness, and their thoughts the mean while accusing or else excusing one another;

Paul- Romans 2: 12-15

For they being ignorant of God's righteousness, and going about to establish their own righteousness, have not submitted themselves unto the righteousness of God. For Christ is the end of the law for righteousness to every one that believeth.

Paul- Romans 10: 3-4

Is the law then against the promises of God? God forbid: for if there had been a law given which could have given life, verily righteousness should have been by the law. But the scripture hath concluded all under sin, that the promise by faith of Jesus Christ might be given to them that believe. But before faith came, we were kept under the law, shut up unto the faith which should afterwards be revealed. Wherefore the law was our schoolmaster to bring us unto Christ, that we might be justified by faith. But after that faith is come, we are no longer under a schoolmaster.

Paul- Galatians 3: 21-25

Both Jesus and the Apostle Paul indicated that the Old Testament law was not abolished, but was fulfilled by the grace of God revealed through Christ. The message here is that, while God's law does not go away, it is transcended by God's grace. By saying the law is "a schoolmaster to bring us to Christ" Paul is showing that the existence of the law is important because it shows us our own imperfection. We can be good at following the law, but we can never be perfect. No mortal person other than Jesus Christ has ever lived a sinless life, and none of us can ever be "good enough" on our own merit to follow the law perfectly. Once we come to that realization, we are then faced with a simple choice: try to make it on our own steam or fully rely on the grace of God.

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