I agree, it's a bit clunky and I am certainly no Kant Scholar either.

While Kant proposes there is the noumenal reality we cannot objectively know, and a subjective reality that is less than trusty, he seems to build a bridge between the two using transcendental ideas like this duty to morality through God and reason.

My interpretation of Kant is the human experience of reality is walking along this bridge by being a "good boy/girl"