All men commanded to appear 3 times a year there, but the Rabbis found a way to reinterpret this; at the time of Jesus, a man was considered especially devout if he went once a year, and some went once in a lifetime or every 4 or 5 years! (see "Pilgrimage at the Time of Jesus" by Shmuel Safrai, Jerusalme Perspective, January 1, 2004).
But as God’s living temples, in the New Testament, we offer sacrifices as part of our daily routine!