Repentance is the universal prerequisite to coming to Jesus. While many have differing opinions, there is only one source that has the answer. Let's look at that source.
John the Baptist preached repentance.
Matthew 3:1-2: In those days came John the Baptist, preaching in the wilderness of Judea and saying, "Repent ye, for the Kingdom of Heaven is at hand."
Jesus taught repentance:
Matthew 4:17 From that time Jesus began to preach and to say, "Repent, for the Kingdom of Heaven is at hand."
Jesus' teaching is clear. Here is a Q&A between Jesus and the people:
Luke 13:1-5 There were present at that season some who told Him of the Galileans whose blood Pilate had mingled with their sacrifices. And Jesus answering said unto them, "Suppose ye that these Galileans were sinners above all the other Galileans, because they suffered such things? I tell you, nay; but unless ye repent, ye shall all likewise perish. Or those eighteen upon whom the tower of Siloam fell and slew them, think ye that they were sinners above all other men that dwelt in Jerusalem? I tell you, nay; but unless ye repent, ye shall all likewise perish."
In first sermon preached by Peter, the call is for repentance.
Acts 2:27-38 Now when they heard this, they were pricked in their heart, and said unto Peter and to the rest of the apostles, "Men and brethren, what shall we do?" Then Peter said unto them, "Repent and be baptized, every one of you, in the name of Jesus Christ for the remission of sins; and ye shall receive the gift of the Holy Spirit.
Paul also preached repentance, here to the philosophers in Athens.
Acts 17:30 "And the times of this ignorance God winked at; but now commands all men every where to repent:"
It sounds great to be able to come to God without repenting, changing your mind about how your live. But, Biblically, this does not seem to be in accord with the preaching of John the Baptist, Jesus, Peter or Paul.
Of course, you can believe whatever you want. But, you need to know that Jesus, "after that John was delivered up, Jesus came into Galilee, preaching the gospel of God, and saying, The time is fulfilled, and the kingdom of God is at hand: repent ye, and believe in the gospel." Mark 1:14-15.