Authentic, Compassionate Judaism For The Thinking Person

What are the most common commandments in the Torah? Shabbat? Kashrut? No, it's repetition after repetition about caring for the stranger, the widow, the orphan, the poor, and the daily laborer. Are these terms that identify specific roles in Biblical society that are not easily mappable onto modern society? Or is that exactly wrong -- even to the point of our mistranslating them (like "orphan") to put ourselves at a distance?