Can we get past the past?

I was working on my sermon for this week, from Acts 10:1-29, where God is in the process of convincing Peter that Gentiles deserve to hear the Gospel too.  Peter, and the rest of the Jewish-Christians of the Early Church, had a blind spot in their thinking that made Jesus' prediction that the Gospel must go to the ends of the earth hard to digest.  These sincere believers were victims, some through their own prejudices, some through simply living in an era where this was the prevailing thought, of the inability to see that God was planning on massively expanding his outreach effort.  God was ready to move forward, his people needed to be shown the Truth so that they would follow.
Earlier in the day I was taking a look at the extra verses in Daniel that are part of the Bible of Catholics and Orthodox, but not Protestant, Christians.  This split goes all the way back to Martin Luther and is now so caught up in our theological differences (especially over Purgatory) that it seems likely that Protestants will never see the value of the Apocrypha with clear eyes.  Are these writings on par with CS Lewis, useful but not Scripture, or are they ancient writing from Godly men that were considered part of Scripture for centuries that we've thrown out for the wrong reasons?  How can a Protestant hope to answer that question without getting mired in the theology that the Catholic Church has built upon these texts?  In case you're wondering, the Catholic Church has the same, "we do this because the Protestant do that" problem as we do, just in reverse.  I don't have any problem seeing us all as part of the family of God, I've known enough siblings who act this way.
The same sort of observation could be made in many of the translation issues, cultural issues, and theological issues that often are so intertwined with our own thoughts and preferences that we have our minds made up long before we weigh the evidence, or we only weigh the evidence that conforms with what we're hoping for.  Do we all do this, is it just the guys in the church across the street, or is that a problem here too?
In the end, are we any different than Peter?  We may look back at silly ol' Peter and thank God that we're not like him, we don't have blinders on, but are we just kidding ourselves?  What message is God trying to get through to us, what plan is he itching to set in motion, if only we would hear him and obey?