How can I feel progress in drawing closer to Allah and adhering to His religion, knowing that the righteous see themselves as the worst of people? And how does this reconcile with the statement of Aisha, may Allah be pleased with her: "If you know that you are a doer of good"?

The signs of a servant progressing forward on the straight path are: steadfastness in Allah's religion, uprightness in His law, comfort and tranquility when performing good deeds and seeking to do more of them, love for acts of obedience, and hatred for sins.

As for what was narrated from 'Aisha, may Allah be pleased with her: "When do I know that I am doing good?" She said, "When you know that you are doing bad." He said, "And when do I know that I am doing bad?" She said, "When you know that you are doing good"; the intent behind this is to warn against a servant becoming self-admiring of their worship and obedience. This is similar to the saying of Mutarrif ibn 'Abdullah: "That I spend the night sleeping and wake up remorseful is more beloved to me than that I spend the night standing (in prayer) and wake up self-admiring." And similar to the saying of Masruq: "It is sufficient knowledge for a person that he fears Allah the Almighty, and it is sufficient ignorance for a person that he is pleased with his own deed."