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What is the philosophical school or idea that the earth is what we have, its what was built throughout time without a God or creator, that what we perceive isn’t 100% accurate in the sense that yes I do see an apple, but you can perceive things incorrect such as a person’s motivations or misperceive like seeing something going forward but its really going backward. That you are able to have free will within limits, you can control yourself within limits and these improve with practice?

Short answer: there isn’t a single, canonical label that bundles all of that, but the closest fit is a mix of metaphysical (scientific) naturalism, fallibilist realism (often called critical or pragmatic realism), and compatibilism about free will—what you might handily call “fallibilist naturalism with compatibilist agency.”
Here’s how the pieces line up with what you described:

No creator; reality built over time → Metaphysical (scientific) naturalism
The world is all there is; everything unfolds through natural processes (physics, chemistry, evolution).
Representative voices: Quine, Sellars, Dennett, Patricia & Paul Churchland.
We really perceive a world, but we’re never 100% right → Fallibilist realism
There’s a mind-independent world (so, realism), but our knowledge and perception are fallible—open to error, revision, and illusion.
Nearby labels: critical realism (Bhaskar, Cartwright), pragmatic realism (Peirce, Putnam), Popperian fallibilism.
This covers your “I do see an apple, but I can misread motives or motion” examples.
Free will within limits; self-control improves with practice → Compatibilism
Freedom is about acting from your reasons/character without coercion, even in a causally ordered world. Capacity for self-control can be trained (habits, skills, attention).
Representative voices: Hume (classic), Frankfurt, Dennett, Fischer & Ravizza.
Practice and improvement over time → Pragmatism + (secular) virtue/skill views
Knowledge and agency grow by inquiry and training; think American pragmatism (Peirce, James, Dewey) plus a secularized Stoic/Cognitive-Behavioral emphasis on practicing judgments and habits without invoking providence.
If you want a single banner to use in conversation, these work:

Pragmatic naturalism (naturalism + fallibilism + practice)
Fallibilist naturalism (naturalism + critical/pragmatic realism)
Naturalism with compatibilist agency (clear on the free-will bit)
Suggested starting texts (short and targeted):
Daniel Dennett, Freedom Evolves (compatibilist agency in a naturalistic world)
Susan Haack, Defending Science—Within Reason (fallibilist, realist account of inquiry)
Hilary Putnam, Realism with a Human Face or Karl Popper, Conjectures and Refutations (fallibilism)
John Dewey, Human Nature and Conduct (habits, growth, and practice without metaphysics)

Concept map: “Fallibilist Naturalism with Compatibilist Agency”

1) What reality is (Ontology)

Metaphysical (scientific) naturalism: reality is wholly natural; no appeal to a creator is needed to explain order, life, or mind.
Implications: history is cumulative—cosmic evolution → biological evolution → cultural evolution.
Key voices: Quine, Sellars, Dennett, Churchlands.
Contrast: vs. theism/deism (adds a creator), vs. idealism (mind-first metaphysics).

2) How we know (Epistemology & Perception)

Fallibilist realism: there’s a mind-independent world, but all beliefs are revisable.
Perception: generally reliable but error-prone (illusions, misattributions of intent, apparent motion errors).
Method: error-correction via public tests, replication, and calibration (instruments, statistics).
Nearby labels: critical realism (Bhaskar, Cartwright), pragmatic realism (Peirce, Putnam), Popperian fallibilism.
Contrast: vs. naïve realism (“what I see just is how things are”), vs. global skepticism (“we can’t know”).

3) What freedom means (Agency)

Compatibilism: free will = acting from your own reasons/values without external coercion, within a causally ordered world.
Reasons-responsiveness: you can recognize and respond to better reasons when capacities are intact.
Trainable control: attention, impulse inhibition, and planning improve with practice (habits/skills).
Key voices: Hume; Frankfurt (hierarchical desires); Fischer & Ravizza (guidance control); Dennett (evolutionary story).
Contrast: vs. hard determinism (no responsibility), vs. libertarian free will (uncaused choices).

4) How inquiry and progress work (Pragmatism)

Pragmatic maxim: meaning and truth-tracking show up in the consequences of beliefs and practices (Peirce, James, Dewey).
Norms: conjecture → test → criticism → improvement; accept fallibilism without falling into relativism.
Payoff: explains why we can correct misperceptions (your “apple vs. misread motives” case).

5) How to live this out (Practice & Ethics)

Skill view of character: virtues = stable, trained dispositions; they’re cultivated through repetition and feedback.
Tools: implementation intentions, cognitive reappraisal, attention training, habit stacking—secularized Stoic/CBT tactics.
Bounded freedom: you can’t choose anything at all, but you can widen your effective agency via training and scaffolding (routines, environments, communities).

One-line elevator pitch

A naturalistic, reality-first view that treats knowledge as fallible but improvable, freedom as reasons-guided agency compatible with causation, and self-mastery as a trainable skill.

Nearby positions (quick contrasts)

Eliminativism about mind: denies common-sense psychology; this view keeps everyday agency but naturalizes it.
Constructivism/anti-realism: emphasizes social construction; fallibilist realism keeps construction while anchoring to a mind-independent world.
Stoicism (classical): shares discipline of judgment; here it’s secularized (no providence).
Existentialism: stresses freedom/choice; here freedom is bounded and reasons-responsive.

Minimal starter stack (short, targeted)

Dennett, Freedom Evolves — compatibilist agency in an evolutionary world.
Susan Haack, Defending Science—Within Reason — clear fallibilist realism and inquiry norms.
Dewey, Human Nature and Conduct — habits, growth, and the practice model of self-control.

HOW I SEE THE WORLD