Prophecy Replaced by Legalism? Halakhah and the Tao

While Judaism may not have much doctrine, one statement that operates doctrinally is the Rabbinic statement that prophecy ended after the Biblical prophets.  Since then, we have the Jewish legal system producing "halakhah" (laws) to guide us instead of revelation producing halakhah.  Legalism replacing inspired revelation?  How is that supposed to work?  I discuss the notion of halakhah and the important principle of halakhic pluralism.