Adiaphora are not to deny Christian freedom, replace true worship, or interfere with the preservation of the pure doctrine...

The article about Christian freedom is at stake here. The Holy Spirit, through the holy apostle’s mouth, sincerely told His Church to preserve this article, as we have just heard. As soon as Christian freedom is weakened and human traditions are forced on the Church with coercion, as though it were wrong and a sin to omit them, the way is already prepared for idolatry. In this way, human traditions are multiplied and regarded as a divine worship, not only equal to God’s ordinances, but even placed above them.

Furthermore, idolaters are confirmed in their idolatry by such yielding and conforming in outward things, where there has not previously been Christian unity in doctrine. On the other hand, true believers are grieved, offended, and weakened in their faith. Every Christian, for the sake of his soul’s welfare and salvation, is bound to avoid both of these, as it is written:

Woe to the world for temptations to sin! (Matthew 18:7)

But whoever causes one of these little ones who believe in Me to sin, it would be better for him to have a great millstone fastened around his neck and to be drowned in the depth of the sea. (Matthew 18:6)

But what Christ says is to be especially remembered:

So everyone who acknowledges Me before men, I also will acknowledge before My Father who is in heaven. (Matthew 10:32)

However, this has always and everywhere been the faith and confession about such matters, by the chief teachers of the Augsburg Confession. We are following in their footsteps and we intend to persevere in their confession by God’s grace.

~BOC, FSD, X, 15-18

Adiaphora that is compelled or commanded obscures pure doctrine and true worship...

We also believe, teach, and confess that at a time of confession, when the enemies of God's Word want to suppress the pure doctrine of the Holy Gospel, God's entire church, indeed, every single Christian, but especially the ministers of the Word, as the directors of the community of God [Latin:  God's church], is bound by God's Word to confess the doctrine freely and openly.  They are bound to confess every aspect of pure religion, not only in word, but also in works and actions.  In this case, even in adiaphora, they must not yield to the adversaries or permit these adiaphora to be forced on them by their enemies, whether by violence or cunning, to the detriment of the true worship of God and the introduction and sanctions of idolatry.  For it is written:

For freedom Christ has set us free; stand firm therefore, and do not submit again to a yoke of slavery. (Galatians 5:1)

Yet because of false brothers secretly brought in—who slipped in to spy out our freedom that we have in Christ Jesus, so that they might bring us into slavery—to them we did not yield in submission even for a moment, so that the truth of the Gospel might be preserved for you. (Galatians 2:4-5)

In this place Paul speaks about circumcision, which at that time had become an adiaphoron.  At other times circumcision was observed by Paul.  The false apostles pushed circumcision in order to establish their false doctrine that the works of the Law were necessary for righteousness and salvation.  They missed circumcision to confirm their error in people's minds.  Therefore, Paul says that he would not yield even for an hour, in order that the truth of the Gospel might continue unimpaired.

Paul yields and gives way to the weak concerning food and the observance of times or days.  But to the false apostles, who wanted to impose these on the conscience as necessary things, he will not yield even in matters that are adiaphora.  "Therefore let no one pass judgement on you in questions of food and drink, or with regard to a festival or a new moon or a Sabbath" (Colossians 2:16).  When Peter and Barnabas yielded somewhat in such an emergency, Paul openly rebuske them according to the truth of the Gospel as people who were not acting right in this matter.

This case is no longer a question about outward matters of indifference, which in their nature and essence are free. They cannot produce a command or prohibition that they must or must not be used.  The case presented by Paul is a question, in the first place, about the outstanding article of our Christian faith.  For the apostle testifies, "so that the truth of the gospel might be preserved for you" (Galatians 2:5).  The Gospel is obscured and perverted by such compulsion or command, because such adiaphora are publicly required for the approval of false doctrine, superstition, and idolatry, and for the suppression of pure doctrine and Christian liberty, or at least are abused for this purpose by the adversaries are and viewed this way.
~BOC, FSD, X, 10-14

Adiaphora are not worship of God, but can be used for good order, Christian discipline, and the Church's edification...

Regarding genuine adiaphora, or matters of indifference (as explained before), we believe, teach, and confess the following:  such ceremonies, in and of themselves, are not worship of God, nor any part of it.  They must be properly distinguished from ceremonies that are.  As it is written, "in vain do they worship Me, teaching as doctrines the commandments of men" (Matthew 15:9).

We believe, teach, and confess that the community of God in every place and every time has, according to its circumstances, the good right, power, and authority to change and decrease or increase ceremonies that are truly adiaphora.  They should do this thoughtfully and without giving offense, in an orderly and appropriate way, whenever it is considered most profitable, most beneficial, and best for good order, Christian discipline, and the Church's edification.  Furthermore, we can yield and give in with a good conscience to the weak in faith in such outward adiaphora.  Paul teaches this in Romans 14 and proves it by his example.
~BOC, FSD, X, 8-9

Christ as our sole Mediator, Atoning Sacrifice, High Priest, and Intercessor...

Our churches teach that the history of saints may be set before us so that we may follow the example for their faith and good words, according to our calling.  For example, the emperor may follow the example of David in making war to drive away the Turk from his country.  For both are kings.  But the Scriptures do not teach that we are to call on the saints to to ask the saints for help.  Scripture sets before us the one Christ as the Mediator, Atoning Sacrifice, High Priest, and Intercessor.  He is to be prayed to. He has promised that He will hear our prayer.  This is the worship that He approves above all other worship, that He be called upon in all afflictions.  "If anyone does sin, we have an advocate with the Father" (I John 2:1).
~BOC, AC, XXI, 1-4

The worship and divine service of the Gospel is to receive gifts from God...

But because Christ's righteousness is given to us through faith, faith is righteousness credited to us.  In other words, it is that by which we are made acceptable to God on account of the credit and ordinance of God, as Paul says, "Faith is counted as righteousness" (Romans 4:3,5).  Although, because certain hard-to-please people, we must say technically:  Faith is truly righteousness, because it is obedience to the Gospel.  For it is clear that obedience to the command of a superior is truly a kind of distributive justice.  This obedience to the Gospel is credited for righteousness. So, only become of this--because we grasp Christ as the Atoning Sacrifice--are good works, or obedience to the Law, pleasing.  We do not satisfy the Law, but for Christ's sake this is forgiven us, as Paul says, "There is therefore now no condemnation for those who are in Christ Jesus" (Romans 8:1). This faith gives God the honor, give God that which is His own.  By receiving the promises of God, it obeys Him.  Just as Paul also says, "No distrust made him waver concerning the promise of God, but he grew strong in his faith as he gave glory to God" (Romans 4:20).  So the worship and divine service of the Gospel is to receive gifts from God.  On the contrary, the worship of the Law is to offer and present our gifts to God.  However, we can offer nothing to God unless we have first been reconciled and born again. This passage, too, brings the greatest comfort, as the chief worship of the Gospel is to desire to receive the forgiveness of sins, grace, and righteousness.
~BOC, AP, V (III), 186-189