Does God accept a servant after their heart has strayed and they have disobeyed?

Allah Almighty accepts all who turn to Him and rewards good deeds with even greater good. He is Generous, Noble, and Merciful; He does not reject a supplicant nor disappoint one who hopes. Have a good opinion of Allah and trust in His generosity and nobility, and know that He is more merciful to you than a mother is to her child. Turn to Allah with all your effort in obeying Him, hasten to sincere repentance from sins, and increase in good deeds that expiate sins. Be keen on the means that soften the heart and enlighten its insight, such as remembrance of Allah, supplication, seeking religious knowledge, accompanying the righteous, and contemplating Allah’s Names and Attributes.