I trust that the way you feel after sin makes you feel unworthy to be in His presense? I have been through this before myself.
Everytime I sinned I used to feel dirty and unworthy to come before the Lord. I used to try to "Hide". How silly was I to try to hide from the Almighty King and Creator of all, who knows each of our hearts.
I spent alot of time waiting on the Lord, I rested in his presense and began to list my sins over and over again and constantly asked the Lord for forgiveness. I kept going back to the same place of sin. This however changed when the Lord spoke to my heart and told me this:
"I died on the cross to take away your sins." The Holy spirit convicted my heart and told me
"I will always forgive you no matter what you have done. When you received me into your life, You received eternal life. My Death was so that you may be forgiven."
I still sin. The difference is now that I return to the Lord without trying to hide. I immediately call out my repentance to the Lord for forgiveness. And immediately it is granted. I know this through faith and trust in His unfailing promises.
If we do not repent of the sin, that stain on our hearts will begin to corrode and allow the enemy a foothold into our conscience, from this he can prod us with comments like "You can't be a christian if you've done x or y". This is the way that the enemy underminds our salvation in Christ.
I have also found that by Keeping my eyes firmly lifted up to the lord [Song of Solomon 1 v 15: "Lover: How beautiful you are, my darling! Oh, how beautiful! Your eyes are doves." - Doves eyes can only look forward. They are focused in the direction they are looking.]
I find peace in my focus as whilst I am focused on the Lord I have no place in my mind for earthly things. This in turn leads to a more intimate relationship with the Lord. The more time we spend in His presence the more focused we will become. The more we will see into the heavenly realms and realise what God's will is for us.